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15701 | b2 = - 023229 | b3 = 0 c1 = - 303801 | c2 = - 44866 | c3 = 500 -------gain = 300 | rumax = 025 | -control parameters RR = 001 | rr = RR^2 | -distance to target DD = 100 * rr -------vxt = 01 | vyt = - 05 | -target velocity vector x=-2 | y=0 | -initial values xt0 = 1 | yt0 = 2 rudder = 0 phi = atan2(yt0 - y, xt0 - x) | -first aim at target drunr DYNAMIC -------------------------------------------------------------------------------------------------xt = xt0 + vxt * t | yt = yt0 + vyt * t | -target psi = atan2(yt - y, xt - x) | -target angle dd = (x - xt)^2 + (y - yt)^2 | -squared distance -----------------------d/dt u = UT - a2 * u^2 | -state equations d/dt v = u * (b1 * v + b2 * phidot + b3 * rudder) d/dt phidot = u * (c1 * v + c2 * phidot + c3 * rudder) d/dt phi = phidot d/dt x = u * cos(phi) - v * sin(phi) d/dt y = u * sin(phi) + v * cos(phi) -error = (phi-psi) | -control step | -this is needed for sat() rudder = - rumax * sat(gain * error) -term rr - dd | -terminate when close -------------------------------------------------------------------------------------------------DISPXY x, y, xt, yt | -draw 2 xy plots