M1x u1y u2x u2y u3

Notice that Te is constant while T(a) depends on a. This means that the extended control input vector ue can be solved directly from (1.21) by using a pseudo-inverse. This is not the case for (1.20) which represents a nonlinear optimization problem. The azimuth controls can then be derived from the extended control vector ueby mapping the pairs (u1x, u1y) and (u2x, u2 y) using the relations,

u1 ulx + u1y , a1 = atan2(u1y,uu), u2 uL + u2y , a2 = atan2(u2y,u2x).

The last two controls u3 and u4 are elements in ue. □

Was this article helpful?

0 0
Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

Post a comment