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sandeshthapa / Adaptive_Sliding_Mode_Control_of_Aerial_Manipulator

Adaptive Sliding Mode Control
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How to compute the C matrix dynamics #1

Open awkar opened 2 years ago

awkar commented 2 years ago

Nice work! I don't know how to get the matrix C, and you said "This function was generated by the Symbolic Math Toolbox version 7.1." in file C_Matrix_vars. Can you give me more details? Thank you.

sandeshthapa commented 2 years ago

If you read any robot dynamics and control paper or book carefully, they should provide you complete equation to compute the inertia matrix M, once you get the M, you can compute the C matrix from partial derivative, check the following:

Robotics: Modelling, Planning and Control by Bruno Siciliano and Lorenzo Sciavicco and Luigi Villani

http://www-clmc.usc.edu/~cs545/CS545_Lecture_10.pdf

image image https://github.com/yangmingustb/planning_books_1/blob/master/Siciliano%20-%202009%20-%20Robotics%20modelling%2C%20planning%20and%20control.pdf

awkar commented 2 years ago

Thank you for your replay. I don't know how to get this function by Symbolic Math Toolbox. C_Matrix_vars.m

But I found this MATLAB method when I read your code: matlabFunction C_matrix_dynamics.m Line 167

The book you mentioned is really helpful, and it is what I'm reading. Anyway, Your work has been very helpful to me.

sandeshthapa commented 2 years ago

Line 167 in https://github.com/sandeshthapa/Adaptive_Sliding_Mode_Control_of_Aerial_Manipulator/blob/master/C_matrix_dynamics.m gives you that function you need which is : C_Matrix_vars.m

Try that and let me know if it works.

sandeshthapa commented 2 years ago

You can also read about matlab function, how it is used to create embedded functions. https://www.mathworks.com/help/symbolic/matlabfunction.html

sandeshthapa commented 1 year ago

220190746@bit.edu.cn check this please.