Errata: Example 8.10 missing factor of v, a1 and a2 flipped
Jump to navigation
Jump to search
Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle \begin{bmatrix} v \\ \phi \end{bmatrix} = -\underbrace{\begin{bmatrix} \lambda_1 & 0 & 0 \\ 0 & \dfrac{a_2 l}{v_\text{r}^2} & \dfrac{a_1 l}{v_\text{r} \end{bmatrix} }_{K_\text{d}} \underbrace{\begin{bmatrix} x - v_\text{r} t \\ y - y_\text{r} \\ \theta} \end{bmatrix}}_{e} + \underbrace{\begin{bmatrix} v_\text{r} \\ 0 \end{bmatrix} \vphantom{\begin{bmatrix} 0 \\ 0 \\ 0 \end{bmatrix}}}}_{u_\text{d}}. }
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