You are on page 1of 6

 


    "!#$&%')(+*-,.%'/
102!34%
56,87&%:9 56.%4!3;;&%<7=%
>?A@CBCDFE/GH?JILK >MHn N KPORQT[/SUSVWY?AXRWY@CXQtZ\sA?J[/SVQTOu]HOR?AQ@CB MP?A^ GRSUBvBC`V_UWY_@C@v[/Q WYX`a?J` MP[/b Q+WY?AXR]dSU{Yc\QTBC_ QTSUSUQ3SV?A[e]R?A}TSUQAKf~ WA`
Yk€E…gA‚+> ƒ…h'jA„Ui8km†rjA‡Hl km€R> ‚+l k ˆeN#‰U€JMfMpˆ›œorŠRq N‹YŒ=sYŒQT]=€XRŽQ3/OR„‘X2ˆH‹Jf’HWY€]R}Tg ‚“Q+?A‰”XŠŒPMP‚zžzŸA•qMwo+„–ˆP orxYE/ŽqzyAQT—RSUq€A{A—R¡z˜¢”‹Jc£’fWY]z‚=`VWY™+ˆPBCMP_UJ|Q ŽMPŒ=| šSV‹R?A•]R}T„L=QA~Œ
†? † † ‡


ˆH€YŒYˆPJ—˜‹J’fY‹€m„L=Œ
¼r¯½¤zÃ+´‘¥–¯Èº+¦¨³‘§U°²ÄV©ªÂTɾ±…¥–« ±U¼¯¾ºT¬“µ»+Ã+­t´mÇr®+· ´²¯p­4¶ Å+°²¯½±U±”Ãr¯²³p®aÊR³²­µËAÂT´–³²­'ÄU¶¯½°¸±…°²· ºT±µÅA¹®µÆ¿µ®Tºt±UºTÇr´‘»+¯½Ìµ±U¯ª±V´‘®+¼r¿V°²´‘­V±ºt³‘±V¼­µ»+ºt¶Í´L¯½®+¯£º+¯‘®+¶H¼J¯ªºTÎ+»r»+»T®T´m±Ï±¾»r· ­'®T®TºT±…´‘»Tºt°¸¿aǏ· ±V­µ»+·¯–¯È¯½±À³‘±…±U­µ¯–Å+¼T¯½±± Á ý+þ+ÿ
(2  ,  U 1
  H  ,        1

  &'
õ ýTõ þ þ
ų‘+Ѹ±mÌT·Ð¶ ±UÆ ºt¯ªÇr¯‘¯½»r±U¶´‘¿U¿U­t­V®a³‘³‘±V±U»+¯£´wÔ ¼r´‘ºt¼Jºt¯½ÑÀ¯½ºT®a³ª­a¯‘¯‘»+´‘Ñ”±U¯wÌt´‘Òµ°²±£­t»TӅÅ+±V»TӅ¯È³L´‘­VÁ
 H    Ls s sd(:         V  -  1  WJ
%

          )(q  C2  O1 T  W    

õ ÿ ÿ =ýýTTþ+þ+ÿ ÿ
&

Õ׿VÖ¯½±U­V®T´‘³‘¿V±8±V­V»+®T³‘´¸±VºT¹»+»T¼J´¸¿µ±¸Ê ±V´²·É¾±…±”³–­µ³‘¼r­t¼r®a´‘³“º+»r°²ÂT®T±4±mÅ+¯È³‘±­µÇ°²­t¶ · ·¶ °¸³‘ÑÀ»r·R­µÅ+¯½Ãr±UÉ/¯\̵¼T­t³‘ºa¶ ®+³L¯•¶ Î+Å+»T±8±•Å+·ÐÆ ±¾ºtÇr·ÐƯ½ºt±UÇT´–ÁÁ


'      UsQ—W(   !  2           
#H  "         #H4  "L J
    1
C ˜4
%


   )(:  3  U   


     3N  W    ˜ 
Õ׿VÖɾ­V®uÄV³‘®T±V°²»+±\ºT´¸Å+É/ÊY±\Úf¼°²±”ºtÂT³À´–­V³‘µ³–±V³‘Ã+Ém±U¯È´²³‘±V¶ÑU®a®T´‘³ÏÌrÑUʯ‘µ¶ Ã+¯ª¯ÈÑV³‘· ÑU¶Í´‘ÉeÑU¶¯‘®T¶ ¯±m­Ø°²ºTÉ/є³‘¼Ñœ· Ĕ¶ ³‘®a±V³‘ÉmѸÌt±V´‘®aÑ3³£Ù&· ±m·Ð¼Æ ºtÂTÇrÑV¯½®T±Uºa´–ÁÁ ê¸êVë ìzí #ð ïõ î Tí ñ=î AîzóÐð ”í î ¸ó
              3       )&

ËܽÞÈÆ åºtæ”Çrݯ½çH±U´‘⸿Vã²­V¦¨áг‘¥–±VÞv»+¥–¦È´¾å ¦=¼r±U´‘¯Èºt³R¼­µºt¼r¯½Ñ8¼· ¶Î+Î+»T»T±ÏÑf®T±V®+ºT¯‘»+»r¯m¶ ³‘­µ±w¼rÙ£¼±V»r· ®T±U±ª´‘ºT°¸·®+­a¯4¯‘¯½Û¸±wܽÅ+¦Èݖ±ªÞÈßL¯½à²Ã+áЯÈݖ³‘§UÄVޓɾ⸱U㲯 ä


I™š :›)œ ž Ÿ * : ž ¡j¢ Mž p›:š!  *žL£¤›:š$ M¥ M¥ ‘

´‘¼rºt´‘ǏÑU¯½ºa±V³²®a¶ Î+³‘ÑU»T¯m±/­VÅ+èA±e®#°²ºTÅ+ºt±Ï¼É¾ÑU´‘ºT­V®a³²³L¶ ºT´‘®J±U´¾ÊA¬“·ÐÆ ±”±U酯•°²´‘ÑU­µ¯‘°¸»r¶ ³‘· Ñ4³‘­VÅ+³L¯“±ÏÅ+·ÐƱeºtÇr¯‘¶¯½Ém±U´‘»r¿V· ­V­U³‘³²±V¶ ºT»+®8´¾¯½¼rºT´‘®aºa³Á


¦§¨C©dª a bd«>^>_Qa¬b\4­ © bdc„®a

¼ºt¯½ÑµÊ '$   k    )(8  !  


   
 k
  3
   k  1 k  1   

+
ý +
þ ÿ ÿ þ
êVë¾êLìzízîAïðñòJízóôïì 
ż(t) = Aq z(t) + Bq u(t) ¯
¯
8; °
<°

Lõ ö“÷P÷føpùmúwû“üýTþ+ÿ ÿ
 
             
 y(t) = Cq z(t)
Fj°

þ
   
         !    "  
$#   % q(t) = qi si ϕ(z) ∈ χi i = 1, ..., N ¯
           &'!      (   )"    *   
ý ýõ ÿ þ ý õ ÿ
  +,   -    .         ,   / 0%
±
  (∈R
1 z(t)
n×1    
 


 


 








 



 (
(
q ∈ {q1 , ..., qN }

þ

  



 U


õ õ
k
  
    &
õ
ÿ
1      2  334
   .5 6879(:5;8<879(,5 ;=>79(:5 ;86879(:5 ; ?79( 5 ;>@79( u(t) ∈ Rlu ×1 y(t) ∈ Rly ×1
&
 
   
 
 N
    0%

ý ÿ þ ýTþrÿ
5 ;A>79&BC  D  D   
D        E4 Aq ∈ Rn×n , Bq ∈ Rn×lu , Cq ∈SRly ×n χi

ÿ
     n (    2   ( 
5 F>79(5 =>79(5 ;G>79(5 ;F>7
2            1  H       )& χ χ= χi
I             %  
 1   
ú ý+þ+ÿ ÿ ý
     i=1,...,N

õ
  "   J :   +  K   L    % 4 ?4°
¯
  &M'3   
1N
χi ∩ χj = ∆χij ∀i 6= j

ÿ
 N  "O      >PQ  3     %


ý+þ þ+ÿ þ ü õ ÿ õ þ
PQ  
     & +R:  (   K  S+ HT   U2   +  1  
 

     V IW       H       W   0% 6°
½
∆χij = ∅
 )|i−
 j| > 1 ¯
  1  !      2           , YX           ∆χij = ∆χji 6= ∅
     &$Z     SD  
 I H-[]\^>_`_QabdcEe4fgI 
ÿ õ
h ae:i>&:'      (  C ,j     "O   1
J 
ý
ÿ õÿ
     k,        dC  "H    3l
∆χ ¸ · ¸ + ¶

ýÿ
     W  V    CJj C     >% χ´ +³ µ
i)  m (>,      Y n      1
k  T   k        2  k

õÿ
        &>'Y   $ o 1  !,   d"   dn
þõ χ² ∆χ ¾ »)

¼½ »

ý
kJj k n
1

n   
  I;& χ º −¹

+
ý þ õÿ
pd  :        1

 U
1
  1
J
#     >%
ii)   m& 
ú +
ý þ ý
 1

 
    C         q 
 I n
¿ z ‚8…jÀd…3Á*~uQÂu0’n€8{ uYz { { 8‹ v`w`x1v`z Œ8u *
‹ ‹ ƒ 8 ‹ E“ u0~ ‹ u0’Ã8{ u ‹

úý
     JI  # T       Vr, & χi
      O   Jj
     L     &k'  

þ ý+þ+õ ÿ
   T    LW IW    )&,Z
2     
õ ÿÿ ¾ý+þ+ÿ
    Ds sd(Y  W               &Y'  " ϕ : Rn → χ

ÿ
"    )         T **  "3    
2 
M

  % jF °Y    
  ?4°$    2  2      1    ;8°
        
   1
 &kBC  
 
Jj        ,¯  X   
   ¯1
   "       2  ¯ 
i i + 1
&
ý õÿ ù
   k       
        T      !Jj !   % ϕ(z) ∈ ∆χi,i+1

õ þ ýTþ+ÿ
Ä  Å 
   1   #   ème  I    )&
õ ÿ
      (   j2    n      T  W            
Z)p  :    q i      1   kÆ     O#/
?
† âUà²áÍÐݖÞÈå
t:u$v`w`x0ydx]z {x|Qv`|Y}>~>x]~80|q€>x]w*{ x)|0‚dz ƒd~Ut:u0~v`w„ud…
‡ˆC‰Š!‹ 0z { { x1v`z ƒd~ ‹ w`x]€8z Œ8u ‹ v`w„ ‹ €8w„ƒ 9Ž8u ‹ Œ8u*{ x ‹` ‘w x]0u*Œ8u*0ƒd’k“
Ý µÛ
       J2  N  :Æl 
q = qi
    (Y#  
I   (k 2  +
þ ýTþ+ÿ
þ
 I
 
 
     
 )
 (  N
   1

  
 
 
  %
’  v9x1v`z ƒd~j”d’nƒdz ~ ‹  ƒdw‘v,•  u){ uY– ‡ ‰d ~8u*z ~}>~8z v`|)Œ8u)0ƒd’n’  9v x1v`z ƒd~ ‹ Œ>x]~ ‹
1
1)ème

þ ÿ ú
 ~z ~v`u0w‘ydx]{ { uqŒ8u$v`u0’n€ ‹ }>~8z…    I    V  1      &       
qi−1  qi+1
þ +ý þ+ÿ õ
2    +  1   
          V         
 1
&
U   
Ç *   I 1.2

õÿ pý+þ+ÿ ý þ õ
Z         X    ,W
2  > % 1

ÿ
  32   ;8°d(:±˜ 2  I   0%9               
0.8

T   U   ¯    
0.6

0.4

x2
0.2

=j° −0.2

˙ = (Aq − Lq Cq )ẑ(t) + Bq u(t) + Lq y(t)


ẑ(t) ¯ −0.4

−0.6

õÿ ÿ
±   !
  *Jj *        )   % −0.8
−1.5 −1 −0.5 0 0.5 1 1.5

   L&,qZ*(q
 = 1,  ...,2 N 
)
         N    
þ õ
x1

 

3 e = z − ẑ ¿ z ‚8…)í…ÈîxI0ƒ  w„ÃuWu0~+0ƒd~v`z ~  uWw„u0€8w„| ‹ u0~ v`uV{ xWv`w`x]ï‘u0Qv`ƒdz w„uVŒjð |Qv9x1v3Œ 
1 ‹„ñ‹ v`0’nuÀY{ xQƒ  w„Ã>uu0~€ƒdz ~v`z { { |0uYw„u0€8w„| ‹ u0~v`u0u0{ { uYŒ ‹„ñ‹ v`0’nuYí…
  
 (A1 − L&& 1 C1 )e(t)
 ϕ(z) ∈ χ1
@°
ė(t) = & ¯
   1

(AN − LN CN )e(t) ϕ(z) ∈ χN



0.5

ÿ ý
 Y  I        
q       C2  C 2    >%

x2
Lq

þ
 
 
 
         2           ,      & 0

 , Aq−
  L(qCI          "    U     (   U q%
ú õ
q

õÿ ÿ
−0.5
    N    o 1  C,  1          1

þ
      2  3J     3 @°d& −1.5 −1 −0.5 0

'I5 ;79(:   3  


2  ¯  -  1  

õõ þ ý+þ+ÿ ÿ
x1
V     I ¿ z ‚8…>ò…ów`x]ï‘u0Qv`ƒdz w„uqŒ ‹„ñ‹ v`0’nuYŽ ñ Ã8w„z Œ8u

   . T         L IW    È   L   
 W4    É   

þ þ ÿ þ õ ý+ÿ +þ ÿ
  1  .     (C   %Q#>%Q (n2    È I
ª i>e_ ª ^>_`c ª„ô ^>cE_Qa ª ë ^>å i>b ª å ä i ©dª abd«>^>_Qa¬bp\4­ © bdc„®aöõ ÷1øö^>«>a][Èå a ª

ÿÿ
       N  1  I    V:   J    +       1

fj^>cEe ª ® i>ee:è ª ê^>b

ÿþ þ
         1   & V    :k    (
2  ),  3k:        m    %Q        @° n 

õõ þ

 I WH[]\^>_`_QabdcEe4f(  "    W    C   ¯       ;8<°

ýý
Lq = P −1 Xq , q = 1, ..., N ¯

 I & ^ ª]ª ¬b1aCå ä ^ ª ­>çê,_Qi>_`c„ì¬a ª _Q^ © cEå cE_Qè3®aå ä abdb a¬b3®)ä i ©dª abd«>^>_`c„i>eÆõ]ù0ø

þ
ÊË)ÌÍÆÎ$τИÑ,Ò)Ó  C U  1   (  ì¬aå ì¬a ª i>cE_å ^NçN^>ec„úb1aV®aI[1i>çVçV¬_Q^>_`c„i>e §
ė(t) = Aq(t) e(t)

õþ ÿ ÿ þ ý+þ+ÿ õ
û Ý8àü*ýàâZ*p      1
    1     
   1


õ
· ¸ · ¸
Aj°             @°d()  1 
I   "     T d%
  LVZ     I¯  W:        V    0%
0 −1 0 1

þ õ +ý þ+ÿ ÿ õ þ
A1 = , A2 = ¯
1  1    
  (42  M  ,j   3  1  
1 −2 −1 −2
  
   1

 C   ) IW    

õ þõ ÿ
             @°d& Ó  ,j W2    "    
T    +Z     IW ¯    (   
1 V (e) := eT P e
q(0) = 1
  − ;Fj°
° (Aq − Lq Cq )T P + P (Aq − Lq Cq ) < 0, q = 1, ..., N ¯
½
q(t) =
1
  σ − = 2 ∧ t > δk ¯„Ô
2 σ = 1 ∧ t > δk    1   T    (  
2      ;Fj°W,     
  
  ,    "   ¯   ( q ∈ Q
ÿ
& Ó  
± −        

   O (q          P, Lq q = 1, ..., N

ý ÿ õ
 n J          ( 
2      ;Fj°): 

,q         IW    q &8δBk   !   1 
ÿ ý
k     Xq = P L q ¯
k

õ

    +      :   q = 1, ..., N
 δk
; ?4°
ATq P + P Aq − Xq Cq − CqT XqT < 0, q = 1, ..., N ¯

þ
δ0 = 1 O  
2      T        þ  1  p
;Gj° N

ÿ
2(k + 1) Z*ÿ.s0n     &
δk = δk−1 + ¯ P, X1 , ..., XN
k(k + 2) '  D   0%Q          (k  H ,j   -    %

ý õ ý+þ ý ý ý
Z* Ç J  Õ<        PQ   Ö×  "Ø   0%   L, 
      V
 I IV      J(,      

þ þ þ ý+þ+ÿ ÿ õ ý ý õ
  1   (    1   
           T  I
% 
  L;K   2  K1  ,   K+      J˜
          2           W  
      O
 I   IW     &
      JK IX  Kr,  Ç J  NFj°d(    J
2    
ý þ
  "Æ   0%Q  1  U        ¯  2            &!BC     § i>çêi>bd_QaçNae_þ®)ä \4­ ª _9è b è ª c ª ®a å ä i ©dª abd«>^>_Qa¬b×\4­ © bdc„®a

ý þ ÿ
 ,j *      
       2    ! !
 % çNi®>c éè

ö õÿ ý ÿ

I5 ?79(*2        Æ o 1  I,    Ç K3 #                        1
 

ÿ þ þ Tý þ+ÿ ý
      1
      2  U    1   
 @°d&
   V H
 I ++      JL  # T       Or, (
ÙÚ)Û8ÜÝ8ÞßÆà¤á,âãkä cEåYa1æc ª _QaW¬e:açN^>_`bdc„[]aN®è`éYec„aêi ª cE_`cE«>a ¯
õÿ ý
  k      Ç           ,j
&jZ)3 J    
 P ∈

õ
a_k®a ª çN^>_`bdc„[1a ª n×ly ë ë _Qaå!ì¬aå a ª             W
2   W+ I    V  
Rn×n

ü ÿ
X ∈ R q = 1, ..., N    0%9       #  .  &
cEe:a`fj^>å cE_Qè]a ª çN^>_`bdc„[cEå aå‘å a ª
q

õ õÿ
N OR:  (  C  W  J         .     >%
        &)Z   E
õÿ
;;8°  i       K   
 $         
ATq P + P Aq − Xq Cq − CqT XqT < 0, q = 1, ..., N ¯ i i
q
∆χ

+ +

q= i + 2
∆χ 
+

Ei −1 Ei Ei +1 q=i+ 1
∆χ  

 

χ + ∆χ + +

q=i
q=i-1 q=i q=i+ 1 χ  ∆χ   +

q=i-1

Ei Ei +1 Ei + 2
χ 
− ∆χ 
− χ
 x  Ã
¿ z ‚8…8…  x ‰ Âu0’n€8{ uqŒ8uqv`w„ƒdz ‹ ’nƒ Œ8u ‹ Œ8u{ð ƒdà ‹ u0w‘ydx1v`u  wYŽ ñ Ã8w„z Œ8ud…  à  ‰ { xn x]w`x]Qv`|0w`z ‹ v`z •  ukŽ ñ‹ v`|0w„| ‹ z ‹ Œ8u{ð ƒdà ‹ u0w‘ydx1v`u  w0”4uQv${ xkv`w`x]ï‘u0Qv`ƒdz w„ukŒ8u{ð |Qv9x1v
Œ8z ‹ 0w„uQv …
 
6° Ei = 1
(  J   
J       U     
¯
Ç J   ê”ê”êVë.- ì 0/£ó21ñ 3ð / ñ=ì ì=ó54rñ7”6í +3íz/ óôï#ì îAï Yï=ízó21ñ 3ð
3š M¢ )ž Ÿ ¤dš$ Mœ ž * 
C¢ ¢
)ž *ž

þ õ þ ÿ
   ∗
Z*p   2  ˜  É  1      2  O-4
   
 i = 1] ∧ [ϕ ∈ χi ]
ÿ
Ei = 1
   [E    O                 Ç J  L=j°N        L
¯          N  

ÿ þ
 Ei = 0  p    /H   2  

  £

∗−
Ei∗ = 1
¤

õÿ þ ÿ
£(ϕ ∈ χi − ∆χi,i+1 ) ∧ (Ei−1
∗−
= 1)¤ ∨   PQ    
&:Z*   2  W  ème      

(ϕ ∈ χi − ∆χi−1,i ) ∧ (Ei+1 = 1) i


  



 ∗
Ei = 0
;86°

    ˜  4 ¯ 
 ;>@°

õ
± ∗  U -  J    "   V U Mi (Θi )Θ̈i + Vi (Θi , Θ̇i )Θ̇i + Gi (Θi ) + JiT (Θi )Fi = τi ¯
  Ei8; 6°d& ∗  N   
 I   
þ
 I
  +    1  

õ
¯    ECi   11JU     ±W,            (  $     k   %

ý+þ+ÿ
&,Z)W  J  ∗−   i Mi ∈ Rp×p
 i  .  1   Ei E4   ( p×p                  

þ Tý þrÿ
      

   +    J  ∗ & Ó
  V i∈  R    T‘ J(
ú
 Ei  C      UJ   1
(
9 8
Gi ∈ Rp×1

ÿ ý ÿ
 
  V
      
   
  
 (  V H  H
& "$% # "  J
    1
    ;:  s &
Ji ∈ Rs×p

ÿ õ
∆χ
s×1  k 


'
+

    R:    "I,        FHi  ∈ R      


q=i+1
χ

!!   '( (  p×1  C      C     C      &
  ∆χ q=i χ+
& "" % # i
Z*p τi∈   R2  OJ     O    1  L         1

õ ÿ þ ÿú ÿ þ ÿ þ þ
+
χ

+ ∆χ +

χ   PQ         C N    q q   2  q  >%
        &       2  3  
3 5 ; ?7 k

¿ z ‚8…*)8…î,ð Ž ñ ‹ v`|0w„| ‹ z ‹ uQv*{ u ‹)‹ ƒ 8‹ “Eu0~ ‹ u0’Ã8{ u ‹ Œ8uY0ƒd’n’  v9x1v`z ƒd~ ;Aj°
Mr (Θ)Θ̈ + Vr (Θ, Θ̇)Θ̇ + Gr (Θ) + JrT (Θ)Fr = τr ¯
±
õ

   N          -  "        (
I     I#               q¤  qi+1
õÿ
  i
 , %
  L   .       W     (:2  $
,  qiHl
   
M1 && 0 V1 && 0
    V 
        (   T ∆t  ; °

õ õ ÿ

  Vn IW4     Mr = 
 &  ; Vr = 
  &  ¯ Ô
  n   0%9      &
ϕ
T   pJ

  Æ  ∆χ 0 Mk 0 Vk

õÿ 'ý+þ+ÿ
Z*   i,i+1
       Ç
2  
  C,  Wi ©dª abd«>^>_Qa¬b3\4­ © bdc„®a,+I\4­ ª _Qèb1è ª c ª   4

 J1T
     
G& 1 && 0 F& 1
 && T & &&
Gr =   ; Jr =   ; Fr = 
     
 
N
 ẑ˙ = JkT
P
[(Ai − Li Ci )ẑ + Bi u + Li y]Ei Gk 0 Fk

;=j° <Gj°

i=1
N ¯     ¯
τ& 1 Θ& 1
P
 ŷ = Ci ẑEi

 &   & 

<;8°
τr =  &  ; Θ =  & 
÷ý+þ õÿ
 "    (i=1
 
             # ¯
 1

 K I   
   1
    Ç J  L? j°d(n    4% τk Θk
.#   ¯      
þ ýTþ+ÿ õ
,j I2      .    1    T £ ¤&
t

õ ÿ
(                H   
(M    ( Z* Θ i =
 1θ i1  .   PQ     C#C        
, . . . , θip
q(t) = i

ÿ
i 
         H2      K     ,  1    Ei = 1
   i           
          C  4 
V
õÿ
   4  
     

ÿ
       
q = i−1 q = i+1

ÿ
  J  "            
  ,        Ç %
J  3? E° i−1 Ei+1 ¯

ö ÿ õ ÿ zý+þ+ÿ þ
°d& <<°
¯
 *  
 *        (   !   )   Mo (X)Ẍ + Vo (X, Ẋ)Ẋ + Go (X) − G(X)Fr = 0 ¯

þ ‘ÿ
  H    ˜           I   2  V    1   ± s×1 &qBC  I2    V: 1    V"   V
        
1 
  )2  1    %   
 1   )&    X ∈nR 

k < <°d&
¯
AB AB
ý+þ+ÿ
(θ , τ ) 
        
U   IX   
2     

þ
2  H
  ;8°d(!±  W O Ç J     -    1  H 
(θ A A , τ A A )       ¯ + ϕ(z)
U
AB AB
(θ , τ ) ?@ ?@
(θ , τ ) CC CC
(θ , τ )
(θ ? @ , τ ? @ ) < °
(θ A A ,τ A A ) => =>
(θ , τ )
BA BA
(θ , τ ) y
(θ > = , τ > = )
(θ = > , τ = > ) êONÏë.PH43436Tð óôMò T+ízî óôïeì ð ×Uð6TóñRQSîtí / ì=ì&ó54òYñ7ï6 +ï0í 4 ñ=î î +ízóô&ïì ð ñRQ

¢ p£ *ž
M¥ *ž E,
ϕ(z) = ϕ(Θ) = Θ

  ž M¥˜ž
¢ Mž )W£ *ž
¥ :¢
¯ Ô

(θ C = , τ C = )
x
(θ > = , τ > = ) (θ < < ,τ < < )
y z
x << <<
(θ ,τ )
Paramètres
(a) (b )
l4 l2
¿ z ‚8…$D…  Âu0’n€8{ u ‹ Œ8u ‹„ñ‹ v`0’nu ‹ Œ8u!’Cx]~8z €  { x1v`z ƒd~ ‹ ”  x , x ‹ €8{ x]~>x]z w„ud”  à  θ 22 θ12 m = 2 kg
 x ‹ Fò E l = 0.6 m B ra s i

lc 4
d1
lc 2
V
l = 0.3 m (i = 1 , …, 4 )

'   W  ;: HH


   )(  K  1       >% I = 0.01 kg.m²

ý
,      
            K     I5 687
ý+þ þ
  N      q#     Y  2   (     
l3
θ 21
lc 3 lc1
θ11
l1
W
d = 0. 2 m
X
d = 0.5 m

d2
m = 0.5 kg Y
<Fj°
· ¸
Θ̇
−GT ¯ ¿ z ‚8…Z …[E!u  Â’Cx]~8z €  { x1v`u  w ‹ u0~0ƒ ƒd€|0w`x1v9z ƒd~3uQv!{ u  w ‹ €>x]w`x]’nQv`w„u ‹
£ ¤
Jr =0

       HG8j   IG  GW  W
ÿ
± 

õÿ þ
Z        
1
  2 
#  +  1  U     >%
  JPQr  G>( G :        &
õÿ'U2  q    ()  U   3  2            %
õÿ õÿ
  L  ,j
I  "         C   #  "O%

ý ÿ ÿ þ
J
    1
(      k K PQ  &Z)3  1   

þ ÿ ýTþ
,j
#  Æ  1      2  N        )&)Z    8%

ÿ
  1
   
   Ç J  L@4&Z)         
       V  ,        1

 ! I 
   1

%       

 I     V3Jj 3   
     1 U 
    

ý
 K
  I;& FGj°
ΘT = [θ11 , θ12 , θ21 , θ22 ] ¯
¦§KJ i ®úå a\4­ © bdc„®aN®>¬ ª ­ ª _QúçNaV®açN^>ec ê,¬å ^>_`c„i>e
þ þ
Z*V   2  J

  U3  1    
3 ;Aj°d(
¯ ( 
 1

 !  CML  #       ( (
õ ÿ ýTþ+ÿ ý+þ+ÿ þ ýTþ ÿ õ
Z        #
   \8j   
Mr (Θ) ∈ R4×4 V (Θ, Θ̇) ∈ R4×4 Gr (Θ) ∈ R4×1
    O    ]  O        )&'N   
    K  k       ÿ
   C        J  r ∈
 RT
4×4 &)Z)3  
UN I 
&,Z) d%

ÿ ú þ ý+þ+ÿ +ý þ+ÿ ÿ
U  W    % T   
   2  &           T  k        τr = [τ 11 , τ12 , τ21 , τ22 ]

õ
+          W   % T 
   
 
 
 

 
  
 1   D    1  K   
 KI   J
Fr
 F;8°

ý ÿ
 ,    (  q
          FrT = [F1x F1y F2x F2y ] ¯
N pi i ∈ {1, .., N }

õ
  U     &

ÿ
'   
1        
 H PQ    J   

õ
Z)       
 W4 <<°  ;Aj°n +   J  O,        1       J    Ç J  3@°d&BC  q  %
  
 5 ; ?7 ¯ ¯
   m PQ o  R: 1 +   d 1 ¯     M&$Z 2     
õ ÿõ ÿ õ õ
pq ,j V2 

þ
   2  U   PQ  :     k U      Ç  #
<>?4°
ż = Aq z + Bq τr + fq ¯
Fj<°
± Mo (X)Ẍ + Go (X) − G(X)Fr = 0 ¯
¤T <6° BC    

      1%
   2     
 
¯
£
z= ΘT XT Θ̇T Ẋ T

÷ þ
,    T  kU    &     U  1  3     %
    )(M  U 3  "L:   N         U  "
 
0

õÿ õ
<=j°         M *  PQ  &Z)    )         %
· ¸
0 I  0 
Aq = ; Bq =  ¯
 1           ,       C  T   

−Wk −Wb p  Mr−1 
q
0 p q
FFj°
K = diag(K1 , K2 ) = diag(k1 Id , k2 Id ) ¯
F?4°
¯
¸−1 ·
JrT B = diag(B1 , B2 ) = diag(b1 Id , b2 Id )
· ¸
Mr 0
−GT
£ ¤
Wk = K Jr
0 Mo −G  ± 2×2 
  3
      
  V 
 

    1

&
 
  3
  
·
Mr 0
¸−1 ·
JrT
¸  I dI∈  Rk +    1
   2  & k1 , k2 , b1 , b2

õ ý
−GT Z  K     + 2             4 
 
£ ¤
Wb = B Jr
0 Mo −G

ÿý
6
J  ( 2  
J  T        JU π &
 BC        Ç (χ J  i )   nW 2       6 rad

þý
 )(
<j@°

ÿ
T
¯   V     Ç J      &!Z)+  1  +     %
£ ¤
fq = −Aq zpi − Bq Jr Frpi
    .:j1   25
pi
O W    )    1
(MW2  
    
<Aj°

ÿ
  IN Ç J      Ç   I#  Ç J      Ç J  
¤T
zpi = ΘTpi XpTi 0 ¯
£
0

   16      
   1
¯   
õ þ õ ý+þ+ÿ
   *      )           1         A j° °d&YZM    
K B
Ç J ¯  UA
ÿ
    1%9     2  N4 T       &*Z)H  1   °d&
¯ 
Initializatio n

]^
^ ]
] `] ]_ ]b ]b ]_ ]b ]a ]b ]b ]a r

] `
r q r q
r

^ _^ `^ ` `b ]_ ] ]_ ]` ]_ ]` ]a ]a
r r r r
q

^ _ _ ^_ `a a b b b c b c ] ] ] ] ^ ] _] ] _] `] `] ^ ] ` ] a ] `
`
q q r r q
r r r r
r r r r
r

a _ a db aa b cc d c c] ] ce ]] ^ ]] ^e ] ^ ] ^ ] `
r q r r q q
q
r r r r
r r r r
q q r

a d d d d f c ] ef c ] e ] e ] e ] ^
r q
r r r
r
r r
r q r
q

fd f ]ef
r r

r q r

 x  Ã
¿ z ‚8…g…  x ‰ î4u ‹ €ƒdz ~v ‹ Œ8u){ z ~8| x]w„z ‹ 1x v`z ƒd~ ‹ u0{ u0Qv`z ƒd~8~8| ‹ ”uQv:{ u  w ‹ 0 ƒd~}>‚  w`x1v`z ƒd~ ‹ x ‹`‹ ƒ 0z |0u ‹ ”{ uM~8ƒd’Ã8w„u)Œ8u)0ƒd~}>‚  w`x1v9z ƒd~ ‹:‹ )
u w„|0Œ  z vRhÀiD$0ƒd~}>‚  w`x]v`z ƒd~ ‹
Œ  u0h${ð u ‹ €>x]0u*Œ8uMv`w`x0ydx]z {z ~8Œ8z •  | ‹` w{ x*}>‚  w„ud…  à ‰ î,ð x  v`ƒdC ’ x1v`u!x ‹`‹ ƒ Qz |*x  ’nƒ Œ80{ uMŽ ñ Ã8w„z Œ8u*Œ k‹„ñ‹ v`0’nu)Œ8u)’Cx]~8z €  { x1v`z ƒd~j” rij u ‹ v,{ x$0ƒd~8Œ8z v`z ƒd~
Œ8u$v`w`x]~ ‹ z v`z ƒd~3Œ  ’nƒ Œ8u i yu0w ‹ { u$n ’ ƒ Œ8u j …

ý+þ+ÿ þ
Z)     W    1  V          O  
Z)
      N L      /   
   ]
   Ç J  

õÿ
 >< ?4°d(:     I    2            I        (
¯ (  I
      3   
A3q
 ∈ R14×14 , Bq ∈ R14×1
 
( 
 ± Ô e = (θ11 − θ̂11 )
(  1 &
fq ∈ R 14×1
y = Cz e2 = (θ12 − θ̂12 ) e13 = (θ21 − θ̂21 ) e4 = (θ22 − θ̂22 )

ù ÿ õ õÿ
    Ö2              ö ¤
1 D
Fj6°          >"     4    
C = [ Id(7×7) 0(7×7) ] (7 × 14) ¯ 2.10−3 rad
°d&Z* Ç J  1 -;G(      I 2.61rad

õ õ
      I     >%

þ
      K   1
&q'  È  1  +     >%
Id  ¯  n0.076%
   n>"   &Z* Ç J  ;;             
  p  N          "          (  O Ç J     
   1 !J  x !y     k 2  1       )&>Z*

þ
    1  U        +#  K     
(, CX 
Ç J  ;8<        J   I            
ý õÿ
ÿ õ
  T    W    )  W  j                &

ý+þ+ÿ ý+þ
U#  1

  &
'CU    T    + IW    K  
3

F=j°
ϕ(z) = ϕ(Θ1 ) = Θ1 ⇒ ϕ(Θ) ¯ 5
x 10
−3

Z)×  I    
     1    2      4
Erreur
Erreur
d’observation,
d’observation,
robot
robot
1,
1,
sortie
sortie
1
2
 k>=%
&Z)K Erreur
Erreur
d’observation,
d’observation,
robot
robot
2,
2,
sortie
sortie
1
2
diag(200, 200, 100, 100) B = diag(50, 50, 25, 25)

õ ý+þ
3
 I     1

 
2    ,˜# ◦ °d&!Z)∆χ UJj= 
constatnte = 0.0873 rad

õÿ \ýTþrÿ
erreurs d’observation [rad]

         E4 2

¯   
 5
;8<°d()±           ;;8°d( 1

  1 ¯ Xq P ¯ 0

F4@° −1
· ¸
P1 P2
P := ∈ R14×14 ¯
P2T P3 −2

 −3

−4
 78.12 −4.60 0.01 −0.34 1.45 −1.02 −2.25 
84.75 1.25 0.67 0.76
 −4.60 −0.52 −0.96  −5
0.01 77.98 0.42 0.08 0 5 10 15 20
 
 −0.52 −2.49 −0.74 
P1 =  1.25 79.72 0.00 Temps [sec]
 
−0.34 −2.49 −0.36 −0.67 
1.45 0.67 73.86 0.05 1.12


 
−0.74 −0.36

¿ z ‚8…kj…
 
0.76 0.42 0.00 0.05 74.75
w„w„u  w ‹ Œjð u ‹ v`z ’Cx1v`z ƒd~Œ8u ‹ •  x1v`w„u ‹ ƒdw‘v`z u ‹ x]w‘v`z   { x]z w„u ‹
 −1.02 −1.43 
−2.25 −0.96 0.08 −0.67 1.12 −1.43 80.19

 −29.82 0.33 0.09 −0.01 −2.06 1.41 2.32 


 0.60 −29.85 −0.00 −0.16 −0.89 −0.94 1.15 
0.13 0.73 1.07 0.00
 
 −0.12 −31.22 −0.42 
P2 =  −0.08 0.07 0.95 0.34 0.66
 
−30.53 −0.17 
1.03 0.39
 
 −2.03 −1.02 −27.09 −0.08 −1.51  0.04
1.04 0.18 2.24 Erreur sur y
 −0.51 −0.00 −0.13 −27.95 
3.31 1.49 0.01 0.65 −2.16 2.95 −29.83 Erreur sur x

0.03
 67.55 18.38 −0.66 1.57 0.10 0.28 −1.17 
 18.38 37.37 2.42 −5.16 0.17 −1.51 −1.35 
2.42 72.48 7.43 0.02
 
 −0.66 −0.35 −0.17 −0.32 
Erreurs d’observation sur x et y [m]

P3 =  1.57 7.43 62.11 0.57 0.28


 
−5.16 −0.07 
0.10 0.17 0.57 76.45 1.97
 
 −0.35 −0.12 
 0.28 −1.51 −0.17 0.28 −0.12 74.95 −4.17  0.01
1.97 56.90

þõÿ
Z        
1
  W
   Y  
Y  q    Y 
−1.17 −1.35 −0.32 −0.07 −4.17

þ ý ÿ õ ÿ
  1  O       È    #-         
. I K
%Q  
 
  . I    
 1   −0.01

¯  I L      (k

8ÿ ÿ
    J8°d& Ó ¤   1 L- −0.02

õÿ
2    q3,  qC  W           ,j
q

ÿ
    &4Z*  PQ   C
T‘
       −0.03

õÿ
J   1
   PQ          −0.04
x, y 0 2 4 6 8 10
Temps [s]
12 14 16 18 20

xréf érence = 0.15 + 0.4 sin(t)


¿ z ‚8…jÀil…  w„w„u  w ‹ Œjð ƒdà ‹ u0w‘ydx1v`z ƒd~ ‹` w x uQv y
yréf érence = 0.6 + 0.3 cos(t)
3
JiT (θ)(1, 1) = −l1 sin(θi1 ) − l2 sin(θi1 + θi2 )
vitesse angulaire v1, robot 1, articulation 1.
vitesse angulaire v2, robot 1, articulation 2. JiT (θ)(1, 2) = l1 cos(θi1 ) + l2 cos(θi1 + θi2 )
vitesse angulaire v3, robot 2, articulation 1.
Estimation des vitesse angulaires [rad/s]

2
v2 vitesse angulaire v4, robot 2, articulation 2. JiT (θ)(2, 1) = −l2 sin(θi1 + θi2 )
1 v1 JiT (θ)(2, 2) = l2 cos(θi1 + θi2 )

−1
q¥3r4¥ î ìò
s ÀutwvV… x…zy:w`x]~8z |{ ñ ”nv  { v`z €8{ ukî ñ x]€  ~8ƒ1yW  ~8Qv`z ƒd~ ‹ x]~8ŒIƒ]v`Ž8u0wkx]~>x]{ ñ‹ z ‹
Mž ,ž,

v`ƒ ƒd{ ‹  ƒdw ‹~} z v`9Ž8u0Œx]~8ŒIŽ ñ Ã8w„z Œ ‹„ñ‹ v`u0’ ‹ …z nn ów`x]~ ‹ …3€  v`ƒd’Cx1v`z 
v3

s íOtwEt:ƒd…$~y:v`ƒ w„ƒd {v9”kx1v ò”*€…$9”y:€8u0€j~>…kx]{zZ;x])1~8“5ƒŒ gd‚8í*…k” „€!$… €8yMw„z x]{w„iÀÃjFƒ]jFv gI” … …u€!à  v:v`Ž8u Š à ‹ u0w‘ydx]Ã8z { z v ñ
−2 v4

} ‹ ñ
s òOt[ƒ]xM…dt:„Ž>z u0x]0z u Ãj”Oz Eu†…;y:E ƒ  ~>v9x]x1’nv ;” z € x]O… {zy:x u0~>x]v`u0{ z’ ;” ‚8O… …]„”k;…‡*yMƒdx]{ 0w„ƒ Ã]”>v íF*” lF… l;Š 8à … ‹ u0w‘ydx]Ã8z { z v ñ ƒ]8v`Ž8u
−3
2 4 6 8 10 12 14 16 18
ñ‹ ‹ ‹
E!z ‹ 0w„uQv`uxv9x1v`u: ƒdMw E ñ ~>x]’nz  x]${ „z u00u } z ‹ 7u ˆ ñ Ã8w„z ‰Œ x ñ‹ v`u0’ ‹ …]F” ‚dƒ  w„~>x]{
Temps [s]

¿ z ‚8…jÀdÀd… ‹ `v z ’Cx1v`z ƒd~Œ8u ‹ yz v`u `‹ ‹ u ‹ x]~8‚  { x]z w„u ‹ ƒ]‡*ƒd~8{ z ~8u x]w3€!~>x]{ ñ‹ z ‹M‰ ˆ ñ Ã8w„z Œ‰x ñ‹ v`u0’ ‹ x]~8ŒŠ€!€8€8{ z  x1v`z ƒd~ ‹ ”O‹,ƒd{…FDdò”
s ;t[‡*x…dƒ8t:…>Ž>òx]”>z €8Ãj€jO” *… EO… ídy:ò15“ƒ  Fò v9gx1”v ;” Fí €lFlF;… )y:… u0~>x]{ zO” ‚8O… „O… yMx]w„Ã]v *” … Š à ‹ u0w‘yu0Mw E!u ‹ z ‚d~Y ƒdw
xUt:{ x ‹`‹ ƒ]x } z v`9Ž8u0Œx ñ‹ v`u0’ ‹ ”t:ƒd’n’nƒd~î ñ x]€  ~8ƒ y ¿> ~8Qv`z ƒd~\€!€“
18

€8w„ƒx]9IŽ …]$” ‚dƒ  w„~>x]{ƒ]Œ ‡*ƒd~8{ z ~8u x]M w €!~>x]{ ñ‹ z ‹)‰ ˆ ñ Ã8w„z ‰ Œ x ñ‹ v`u0’ ‹ x]~8 Œ €!€“
17

€8{ z  x1v`z ƒd~ ‹ ” ‹ ƒ  ’nz ‹ Œ>x]~ ‹ { u x]Œ8w„unŒjð  ~8uz ~yz v9x1v`z ƒdH ~ hŽE~v`u0w„~>x]v`z ƒd~>x]{
16

t:ƒd~ u0w„u0~80uƒ],Ž ñ Ã8w„z Œ8u ‹„ñ‹ v`u0’ ‹ x]~8ŒK€!€8€8{ z  x1v`z ƒd~ ‹ ”ó)Ž8uÁ*~8z yu0w ‹ z v ñ
The discete state q

15

s )Otƒ€… €…4t:ƒd{ udI” „I… ˆ ‹` ”4x]~8\Œ x… xz… Á xxx €‹ v`*” w vñ R” x …E ídñ í1~>“‘x]Fí ’nD”z Fí lFQlFƒD~… v`w„ƒd{,ƒd ‹ { z Œ8z ~8‚
ƒ]{ ƒ  z ‹ z x]~>x”8îx1x ñ uQv„v`ud”Iî €”>
14
ñ
à ñ w„ƒdÃ]vkŽ>x]~8Œ ‹  ƒdww„u0‚dw`x ‹ €8z ~8‚k…]”n nn ów`xd~ ‹ xd9v`z ƒd~Nƒ~N)ƒdÃ]v`z  ‹
13

12

s DOtw€‚8*… ˆ*v`ƒdu ’C‹ €>x1x]v`~8z ƒdŽ>~jx”k” yEƒd… {… î4gz Ãk” u0‡*~w ƒ80ƒd…j~jÀdk” ”>€€8€j*… *… x*… í1v32“ )dƒdíw ” ‹ ud*” u0y!ÃW*… iÀ EjFjd… íŠ … $… €!~8Œ8u0w ‹ ƒd~j”8ó)Ž8ƒ]“
11
0 2 4 6 8 10
Time [s]
12 14 16 18 20  ¿
¿ z ‚8…jÀ í…î,ð |Qv9x1v!Œ8z ‹ 0w„uQv
’Cx ‹ x…y:w„z ~ ‹ ’nu x]Œj” ¿ w`x]~*{ ñ Œ8u†y:w ñ ~8ud”3…v  { v`z €8{ uY’nƒ Œ8u0{4x]Œ>x]€v`z yu
0ƒd~v`w„ƒd{”$€>x]w‘vWí ‰ x } z v`9Ž8z ~8k‚ …] … E~v ‘ … ‚8…*ƒ]C)ƒdà 8‹ vWx]~8U Œ ‡*ƒd~8{ z ~8u x]w
Ïë •ïìòn6Tñ ¸óôïì
q

t:ƒd~v`w„ƒdR { x €u00z x]M


{  ‹`‹` uƒd. ~ ˆ ñ Ã8w„z H Œ x ñ‹ v`u0’ ‹ z ~Wt:ƒd~v`w„ƒd{”,ÀdÀ  ) ‰ €8€j…
N \m
s Zitw‚8Z;…Fj1ˆ*5“ u‹ jF€>Dx]k” ~8€!Ž>€8xw*…*…0Fí Á*lFl~8Àdz  … ƒdw„’’xv9x]Ã8z { z v ñ ƒ]x } z v`9Ž8u0Œî4z ~8u0xdwMx ñ‹ v`u0’ ‹M;‰   “

u „w„z ~80z €8{ u …]I…  nn ów`x]~ ‹ …4ƒd.
ý v`u0~ ‹ z ƒd~ ‹ ƒ])îx xx]{ { udð ‹ E~ydx]w„z x]~80ƒ ~ €  “
'      (   C :j
U  I
 W, 
v`ƒd’Cx1v …t:ƒd~v`w0… *” ‹:ƒd{$… j” ‡*ƒ8*… k€8€jk… Z;l15“ gdík” €!€8w0…>Fí ll;8…
o+ ÿ
               2  Æ  O .: 

i ©dª abd«>^>_Qa¬bV\4­ © bdc„®a H\4­ ª _Qèb1è ª c ª &!'  "-   1


J     % s gOtw‚8… Y…I“$u0w„w0”x]~8ŒHy!…4)ƒ]v`Žj”R…u€!~>x]{ ñ‹ z ‹ ƒ]0v  { v`z }>~8‚du0w„u0Œ\ˆ!x]~8Œ ‹ ” …ŠE~“
v`u0w„~>x1v`z ƒd~>xdR { ‚dƒ  w„~>x]{:ƒ]))ƒdÃ]v`z  ‹ )u ‹ u x]w„9ŽjI” ‹,ƒd{… 8I” ‡*ƒ8… 8”j€8€j…ò1“9iÀ D”
õÿý
     N         ,j
&qZ*-    .   
À jFgFD…
i
s jOtwE…8î4z Ãu0w~0ƒd~j”‚8…„…kˆ*u ‹ €>x]~8Ž>xnx]~8Œ[€…x…kv3ƒdw ‹ ud”z…ixv9x]Ã8z { z v ñ ƒ] ~‹ } z v„“
Tý õ þ ÿ
      I
 HK    Jj W         () 
 N  "  W      ,        1

  &BC   9Ž8u0ŒL{ z ~8u x]w ‹„ñ‹ v`u0’ ‹V‰ €öî4z u9“‘xd{ ‚du0Ã8w`x]z V0ƒd~8Œ8z v`z ƒdI~ …]‘ ” x ñ‹ v …Yt:ƒd~v`w0…
î4uQv„v … *” ‹,ƒd{…>ò Z ” ‡*ƒ8…>ò”8€8€j…4ÀdOÀ Z “9À ídí”4iÀ jFjFj…
õÿÿ s ÀilOtw‚8…î ñ ‚du0w„ƒ ‹ x]~8ŒK“…‚dƒdŽ>x]~ ‹`‹ ƒd~x]~8Œ.x… ‡q…x z ’nz |†‚8…Œx Ž>x]~8‚x]~8Œ”x… x…
 $  2 
         ,j
#  "         
#O  "p J
    1
(
  1   ; : HK4
8% xx ‹ v`w ñ k” …E ñ ~>x]’nz  x]*{ „w„ƒd€u0w‘v`z u ‹ ƒ] ˆ ñ Ã8w„z ŠŒ €  v`ƒd’Cx1v9*x …]F”  nn ów`x]~“
  )&)Z)
     3U R
   U  W          U 
ý s ÀdÀutwE…:î4z Ãu0~w~0ƒd€ ~j”7v`ƒd‚8’C…7x]ˆ*v`u z q‹ €>t:x]ƒd~8~Ž>v`xw„”Rƒd{€k” ‹,… xƒd…•{$…v3ƒdgw ”>‹ FíudlF”‘ld…iòx… v9x]Ã8z { z v ñ ƒ] ~‹ } z v`9Ž8u0Œ
‹ x]Qv`z ƒd~ƒƒ

ÿ õÿ ì=ðõ ópQ õÿ
    1 K          N  o  1
        
 ,j
& ‹„ñ‹ v`u0’ ‹C‰ xî4z uQ“‘x]{ ‚du0Ã8w`x]z C0ƒd~8Œ8z v`z ƒdI~ …]n ” x ñ‹ v`u0’ ‹ t:ƒd~v`w„ƒd{)î4uQv„v z” ‹,ƒd{
ò Z ”>€8€j… ÀdOÀ Z “9À ídí”4iÀ jFjFj…

PH434ž s À íOtóY… ‚8…dóx]w„~j”€…“…y:u„ï20 ñ x]~8Œ‰–…;—  ~j”k…E!u ‹ z ‚d~kƒ]Œ ñ ~>x]’nz M0ƒd~v`w„ƒd{
ƒ])v } ƒ30ƒ ƒd€u0w`x]v`z ~8‚w„ƒdÃ]vkx]w„’ ‹ 0{ ƒ ‹ u0ŒV9Ž>x]z ~V ƒdw„’  { x1v`z ƒdI~ …]z” „w„ƒ d…
 nn E~v …$t:ƒd~„…))ƒdÃ]v`z  ‹ x]~8o Œ €  v`ƒd’Cx1v`z ƒd~j”)*x]{ u0z ‚Žj”M€8€j … Z “9À ò”
úfý ÿ
2            ,
 j1 C  "I J
Y    1
(  
À jFgZ …
i
s À òOtƒ€…0x…7v3ƒdw ‹ ud”‘…ix  €u0w‘yz ‹ ƒdw ñ t:ƒd~v`w„ƒd{qƒ] ¿ x]’nz { z u ‹ ƒ]î4z ~8u x]w[x uQv„“
ý
   I  kW  2           
    

 (i = 1, 2)
„ƒdz ~v* t:ƒd~v`w„ƒd{ { u0w ‹ M“ „x]w‘vYÀ $‰  Â8x]Q0v vUx1v`9Š Ž8z ~8k‚ …]$”  nn ów`x]~ ‹ x]Qv`z ƒd~ ‹
s À;t~Y… € vV…v`vƒd’C x1w„w`v`xz ñ ”t:˜ƒd… ~î4v`w„zƒdu{”>x€8… x€j…*…4xÀ x 8‹ À v`ò1w “9ñ À ”I…uò€+Àd” ’Cx1Qv`vŽ8iÀu0’CjFjFx1Dv`… z  x]{z ~v`w„ƒ Œ  Qv`z ƒd~
ƒdw

s iÀ )Otwv`ƒYEw„I… ƒd„Ãw`ƒ]x1v`v„z *v`z ’C9Ž8x]z ~80z ƒ8€ ”{x]x1~8v`.Œ z ƒdI~ €…]Œ… ” y:y:z ƒ 0 9xYŽ8z*n” x1…v`E ƒdñ ~j~>” x]’n{ ƒdz w„™ z Œ>€!x~>”x]tM{ ñ)‹ \t z ‹ „ƒ]w„R u v3”8ƒdÃ8iÀ jFz { j;z v 8ñ …
Mi (θ)(1, 1) = 2
m1 lc1 + Iz1 + m2 (l12 + lc22  ¿ ‹`‹
+2l1 lc2 cos(θi2 )) + Iz2 x]~8Œwš!w`x ‹ €>x]Ã8z { z v ñ ƒ]3š!u0~8u0w`x]{IvUx]~8z €  { x1v`z ƒd~ƒx ñ‹ v`u0’ ‹ …]” nn ów`x]~“
2 ‹ x]Qv`z ƒd~.ƒd~.)ƒdÃ]v`z Wx]~8o Œ €  v`ƒd’Cx1v`z ƒd~j• ” ‹,ƒd{… iÀ 8R ” ‡*ƒ>… íV€8€j…*Fí )À Fí )Fg”
À jFjFg…
i
Mi (θ)(1, 2) = m2 (lc2 + l1 lc2 cos(θi2 )) + Iz2
Mi (θ)(2, 1) 2
= m2 (lc2 + l1 lc2 cos(θi2 )) + Iz2 s ÀiDOtóY…—,ƒ ‹ Ž8z {dx } xqx]~8Œƒ–…*˜>Ž8u0~8‚8”I… t:ƒ ƒdw„Œ8z ~>x1v`u0ŒŒ ñ ~>x]’nz  ‹ Ž ñ Ã8w„z ŒC€ƒ]“
‹ z v`z ƒd~ ›  ƒdw„0u$0ƒd~v`w„ƒd{ ƒdw:’  { v`z €8{ u*w„ƒdÃ]v)’Cx]~8z €  { x1v`ƒdw ‹ Ž>x]~8Œ8{ z ~8‚ƒd~8u
0ƒd~ ‹ v`w`x]z ~8u0ŒƒdÃ8ï‘u0QOv …]*” „w„ƒ d$…  nn t:ƒd~„…ƒd~)ƒdÃ]v`z  ‹ x]~8Ž Œ €  v`ƒd’Cx1“
2
Mi (θ)(2, 2) = m2 lc2 + Iz2
v`z ƒd~j”8yƒd{…>í”8€8€j…4ÀdOÀ Z;g1“9ÀdiÀ gdò”iÀ jFjFl
s ÀOZitwvV…qÁ*9Ž8z ñ x]’Cx”†‡…‘ } x ‹ x } xOx]~8Œœ“…™ˆ!x;{dƒd’nƒdw„z”‰…ˆ ñ Ã8w„z ŒÆ€ƒ ‹ z “
v`z ƒd~ ›  ƒdw„0uW0ƒd~v`w„ƒ{Y ƒdw0ƒ ƒdw„Œ8z ~>x1v`z ƒd~.ƒ]kxVv } ƒ]“‘x]w„’×w„ƒdÃ]Ov …] ” „w„ƒ d…
 nn E~v …*t:ƒd~„…:)ƒdÃ]v`z  ‹ x]~89
Vi (θ, θ̇)(1, 1) = −2m2 l1 lc2 sin(θi2 )θ̇i2
Œ €  v`ƒd’Cx1v`z ƒd~j”M*x]{ u0z ‚dŽj”,€8€j…!À ;í í1“
s ÀigOtwÀ ;í‚8…jZ óY”4…iÀ WjFgu0Z ~W… x]~8Œ.“…Œ“$w„u  v„“2E!u0{ ‚x]Œ8ƒFd”•…v3ƒ]v`z ƒd~Wx]~8Œ ƒw„Qu ƒdw$’  { “
Vi (θ, θ̇)(1, 2) = −m2 l1 lc2 sin(θi2 )θ̇i2

v`z €8{ u!w„ƒdÃ]v`z Y’Cx]~8z €  { x1v`ƒdw ‹ …]$” €  v`ƒd’Cx1v`z  x$” ‹,ƒd{…Fí gk” ‡*ƒ8… 8”€8€j… Z]Fí j1“
Vi (θ, θ̇)(2, 1) = m2 l1 lc2 sin(θi2 )θ̇i1
Vi (θ, θ̇)(2, 2) = 0 ZOò”4iÀ jFjdí…
Gi (θ)(1) = g(m1 cos(θi1 )lc1 + m2 (l1 cos(θi1 )
+lc2 cos(θi1 + θi2 )))
Gi (θ)(2) = g(m2 lc2 cos(θi1 + θi2 ))

You might also like