移动机器人滑模轨迹控制.rar_MATLAB轨迹跟踪_机器人 轨迹_机器轨迹跟踪_滑模跟踪控制_移动机器人滑模轨迹跟踪控制

function [sys,x0,str,ts] = spacemodel(t,x,u,flag) switch flag, case 0, [sys,x0,str,ts]=mdlInitializeSizes; 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 = 0; sizes.NumDiscStates = 0; sizes.NumOutputs = 1; sizes.NumInputs = 4; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 1; sys = simsizes(sizes); x0 = []; str = []; ts = [0 0]; function sys=mdlOutputs(t,x,u) x1=u(1);x2=u(2); %Pendulum angle x3=u(3);x4=u(4); %Cart g=9.8;mc=0.4;m=0.14;l=0.215; c2=l+g/11; c1=6/g*(c2-l); c3=l*c2+6*(c2-l); s=x4+c1*x3+c2*x2+c3*x1; Maa=mc+m; Mau=m*l*cos(x1); Muu=m*l^2; fa=m*l*sin(x1)*x2^2; fu=m*g*l*sin(x1); xite=3; fai=0.10; if abs(s)<=fai sat=s/fai; else sat=sign(s); end b1=Muu/(Maa*Muu-Mau^2); b2=-Mau/(Maa*Muu-Mau^2); f1=(Muu*fa-Mau*fu)/(Maa*Muu-Mau^2); f2=(-Mau*fa+Maa*fu)/(Maa*Muu-Mau^2); ut=-1/(b1+c2*b2)*(f1+c2*f2+c1*x4+c3*x2+xite*sat); sys(1)=ut;