j1.m

Mobile Robots 非线性跟踪

function Jac  = J1(x1,x2)

s1 = sin(x1(3));
c1 = cos(x1(3));

Jac  = [1 0 -x2(1)*s1-x2(2)*c1;
        0 1 x2(1)*c1-x2(2)*s1;
        0 0 1];