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Unformatted text preview: 2. Use sinusoidal inputs to drive the unicycle to the ﬁnal goal in 10 seconds. 3. Retrieve x and y coordinates and plot the xy graph showing the steering of the unicycle Question 3: Piecewise Constant Inputs We consider the following chainedform system: ˙ q 1 = u 1 ˙ q 2 = u 2 ˙ q 3 = q 2 u 1 ˙ q 4 = q 3 u 1 (1) Write an algorithm that computes the piecewise constant inputs needed to drive the system from any initial conﬁguration: q 1 q 2 q 3 q 4 to the ﬁnal conﬁguration: q 1 f q 2 f q 3 f q 4 f in T seconds. For veriﬁcation purposes, to steer the system from [ 4 0 1 1 ] T to [ 0 0 0 0 ] T in 12 seconds the inputs must be as follows: v 1 =1 3 , v 21 = 15 64 , v 22 =9 32 , v 23 = 3 64...
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 Fall '10
 DanielNassrallah
 Mechanical Engineering

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