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
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