How integrate Computed torque control law for dynamic system with Polynominal chaos expansion ?

I have an equation like ( 𝑓(𝑞,𝑞̇,𝑠)=𝑀(𝑞,𝑠)(𝑞𝑑̈+𝐾𝑝𝑒 ̇+𝐾𝑑𝑒)+𝑁(𝑞,𝑞,𝑠̇) ) where M(q, s) is the n × n inertia matrix of the entire system, q denotes the n × 1 column matrix of joint variables...

10 October 2019 7,340 3 View