滑模移动小车控制_Matlab移动机器人滑模_matlab动力学_小车_滑模控制_

function [sys,x0,str,ts]=s_function(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 = 6; sizes.NumDiscStates = 0; sizes.NumOutputs = 6; sizes.NumInputs = 4; sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 0; sys=simsizes(sizes); x0=[0.1 0 0.1 0 -0.2 0]; str=[]; ts=[]; function sys=mdlDerivatives(t,x,u) xw = x(1); dxw = x(2); yw = x(3); dyw = x(4); theta = x(5); dtheta = x(6); sigma1 = pi/10; sigma2 = pi/10; sigma3 = pi/10; sigma4 = pi/10; m = 23; l = 20; F1 = u(1); F2 = u(2); F3 = u(3); F4 = u(4); J = [-sin(theta+sigma1) cos(theta+sigma1) l; sin(theta-sigma2) -cos(theta-sigma2) l; sin(theta+sigma3) -cos(theta+sigma3) l; -sin(theta-sigma4) cos(theta-sigma4) l]; XX = [dxw;dyw;dtheta]; V = J * XX; F = [F1 F2 F3 F4]; M = diag([m m l]); S = inv(M)*((F*J)'); sys(1) = x(2); sys(2) = S(1); sys(3) = x(4); sys(4) = S(2); sys(5) = x(6); sys(6) = S(3); function sys=mdlOutputs(t,x,u) sys = x;