机械手的自适应滑模控制.rar_机械手仿真_机械手控制_滑模控制_自适应仿真_自适应控制

function [sys,x0,str,ts]=para_estimate(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; case 1, sys=mdlDerivatives(t,x,u); case 3, sys=mdlOutputs(t,x,u); case {2, 4, 9 } sys = []; otherwise error(['Unhandled flag = ',num2str(flag)]); end function [sys,x0,str,ts]=mdlInitializeSizes sizes = simsizes; sizes.NumContStates = 4; sizes.NumDiscStates = 0; sizes.NumOutputs = 4; sizes.NumInputs = 10; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 0; sys=simsizes(sizes); x0=[4.1,1.9,1.7,0]; str=[]; ts=[]; function sys=mdlDerivatives(t,x,u) g=9.8;l1=1; e2=g/l1; gama=eye(4); q1_d=u(1);dq1_d=u(2);ddq1_d=u(3); q2_d=u(4);dq2_d=u(5);ddq2_d=u(6); q1=u(7);dq1=u(8); q2=u(9);dq2=u(10); q_error=[q1-q1_d,q2-q2_d]'; dq_error=[dq1-dq1_d,dq2-dq2_d]'; Fai=5*eye(2); s=Fai*q_error+dq_error; ddq_d=[ddq1_d,ddq2_d]'; dq_d=[dq1_d,dq2_d]'; dqr=dq_d-Fai*q_error; ddqr=ddq_d-Fai*dq_error; Y=[ddqr(1)+e2*cos(q1),ddqr(2)-e2*cos(q1),2*cos(q2)*ddqr(1)+cos(q2)*ddqr(2)-2*sin(q2)*dq2*dqr(1)-sin(q2)*dq2*dqr(2)+e2*cos(q1+q2),2*sin(q2)*ddqr(1)+sin(q2)*ddqr(2)+2*cos(q2)*dq2*dqr(1)+cos(q2)*dq2*dqr(2)+e2*sin(q1+q2); 0,ddqr(1)+ddqr(2),cos(q2)*ddqr(1)+sin(q2)*dq1*dqr(1)+e2*cos(q1+q2),sin(q2)*ddqr(1)-cos(q2)*dq1*dqr(1)+e2*sin(q1+q2)]; A_law=-inv(gama)*Y'*s; %Adaptive law % The parameter update law is proposed by Slotine and Weiping Li(MIT 1987) for i=1:1:4 sys(i)=A_law(i); end function sys=mdlOutputs(t,x,u) sys(1)=x(1); sys(2)=x(2); sys(3)=x(3); sys(4)=x(4);