dxdtode.m

该程序用PID系统实现差动转向车辆控制

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL

function dxdt=dxdtOde(t,y)
%% The differential equation for the x acceleration
global A;
global B;
global C;
global D;
global theta0;

dxdt=(A*t+B)*cos(C*t^2+D*t+theta0);

end