gusucode.com > 模糊控制工具箱 fuzzy logic toolbox源码程序 > fuzzy/fuzdemos/ctrltbu1.m
function out = ctrltbu1(x) % CTRLTBU1 controller for the truck backer-upper when distance is far. % Roger Jang, 10-21-93, 1-16-94, 11-7-94 % Copyright 1994-2002 The MathWorks, Inc. % $Revision: 1.7 $ $Date: 2002/04/14 22:16:29 $ distance = norm(x(1:2)); alpha = acos(x(1)/distance) - pi/2; % abs(alpha) <= pi/2 tmp = x(3) - pi/2 - alpha; beta = tmp - round(tmp/2/pi)*2*pi; % abs(beta) <= pi out = - 3*alpha + 2*beta; out = max(-pi/4, min(pi/4, out));