Difference between revisions of "Errata: Example 8.10 missing factor of v, a1 and a2 flipped"
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Failed to parse (syntax error): {\displaystyle w_2 = -\frac{l}{v_\text{r}}(\frac{{\color{blue} a_2}{{\color{blue} v_\text{r}} e_y + {{\color{blue} a_1} e_\theta). }
Failed to parse (unknown function "\begin{bmatrix}"): {\displaystyle \begin{bmatrix} v \\ \phi \end{bmatrix} = - \begin{bmatrix} \lambda_1 & 0 & 0 \\ 0 & \dfrac{{\color{blue} a_2 l}{v_\text{r}^{\color{blue} 2} & \dfrac{{\color{blue} a_1 l}{v_\text{r}} \end{bmatrix} \begin{bmatrix} x - v_\text{r} t \\ y - y_\text{r} \\ \theta \end{bmatrix} + \begin{bmatrix} v_\text{r} \\ 0 \end{bmatrix}. }
Line 14: | Line 14: | ||
\begin{bmatrix} 0 & 0 & -{\color{blue} v} \sin\theta \\ 0 & 0 & {\color{blue} v} \cos\theta \\ 0 & 0 & 0 \end{bmatrix} | \begin{bmatrix} 0 & 0 & -{\color{blue} v} \sin\theta \\ 0 & 0 & {\color{blue} v} \cos\theta \\ 0 & 0 & 0 \end{bmatrix} | ||
\right|_{(x_\text{d}, u_\text{d})} | \right|_{(x_\text{d}, u_\text{d})} | ||
− | = \begin{bmatrix} 0 & 0 & 0 \\ 0 & 0 & v_\text{r} \\ 0 & 0 & 0 \end{bmatrix}, | + | = \begin{bmatrix} 0 & 0 & 0 \\ 0 & 0 & {\color{blue} v_\text{r}} \\ 0 & 0 & 0 \end{bmatrix}, |
</math></center> | </math></center> | ||
This leads to an error in the definition of <math>w_2</math> later in the example. In addition, the coefficients <math>a_1</math> and <math>a_2</math> are swapped, so the definition of <math>w_2</math> should be: | This leads to an error in the definition of <math>w_2</math> later in the example. In addition, the coefficients <math>a_1</math> and <math>a_2</math> are swapped, so the definition of <math>w_2</math> should be: | ||
<center><math> | <center><math> | ||
− | w_2 = -\frac{l}{v_\text{r}}(\frac{a_2}{v_\text{r}} e_y + a_1 e_\theta). | + | w_2 = -\frac{l}{v_\text{r}}(\frac{{\color{blue} a_2}{{\color{blue} v_\text{r}} e_y + {{\color{blue} a_1} e_\theta). |
</math></center> | </math></center> | ||
The final controller then becomes | The final controller then becomes | ||
Line 25: | Line 25: | ||
- \begin{bmatrix} | - \begin{bmatrix} | ||
\lambda_1 & 0 & 0 \\ | \lambda_1 & 0 & 0 \\ | ||
− | 0 & \dfrac{a_2 l}{v_\text{r}^2} & \dfrac{a_1 l}{v_\text{r}} \end{bmatrix} | + | 0 & \dfrac{{\color{blue} a_2 l}{v_\text{r}^{\color{blue} 2} & \dfrac{{\color{blue} a_1 l}{v_\text{r}} \end{bmatrix} |
\begin{bmatrix} x - v_\text{r} t \\ y - y_\text{r} \\ \theta \end{bmatrix} | \begin{bmatrix} x - v_\text{r} t \\ y - y_\text{r} \\ \theta \end{bmatrix} | ||
+ \begin{bmatrix} v_\text{r} \\ 0 \end{bmatrix}. | + \begin{bmatrix} v_\text{r} \\ 0 \end{bmatrix}. | ||
− | |||
</math></center> | </math></center> |
Revision as of 04:59, 7 October 2021
Chapter | Output Feedback |
---|---|
Page | 8-28 |
Line | -4 |
Version | 3.1.5 |
Date | 6 Oct 2021 |
Example 8.10 (Steering control with velocity scheduling) is missing a factor of in the definition of that propagates through the example. In addition, the coefficients and are swapped in the definition of .
The equation for should read:
This leads to an error in the definition of later in the example. In addition, the coefficients and are swapped, so the definition of should be:
The final controller then becomes