function?M?=?animateopt（?toptxoptuoptthetaoptbetaNrho?）
%ANIMATEOPT?animate?the?optimal?state?trajectory
[toptu?idx]?=?unique（topt）;
xoptu?=?xopt（idx:）;?%unique（xopt‘rows‘）;
uoptu?=?uopt（idx）;
thetaoptu?=?thetaopt（idx）;?%?remove?duplicate?values
t?=?0:0.1:6;
xoi?=?interp1（toptuxoptut）;
uoi?=?interp1（toptuuoptut）;?%?trust?$u$
haoi?=?atan（xoi（:4）./xoi（:3））;?%?heading?angle
haoi（1）?=?haoi（2）;
toi?=?interp1（toptuthetaoptut）;?%?trust?angle?$\theta$
[xy]?=?meshgrid（-1:0.5:5）;
fx?=?（beta*（3-x））./（（y.^2+（x-3）.^2）.^（3/2））;
fy?=?（-beta*y）./（（y.^2+（x-3）.^2）.^（3/2））;
figure;
for?k=1:length（t）
????%?contruct?the?shape?of?a?boat?around?the?point?with?respect?to?
????%?heading?angle
????bx=?xoi（k1）+?[0.2*cos（haoi（k）-0.5）?0.3*cos（haoi（k））?...
????????0.2*cos（haoi（k）+0.5）?0.2*cos（haoi（k）-0.5）?...
????????-0.2*cos（haoi（k）+0.5）?-0.3*cos（haoi（k））?...
????????-0.2*cos（haoi（k）-0.5）?-0.2*cos（haoi（k）+0.5）?...
????????-0.2*cos（haoi（k）-0.5）?0.2*cos（haoi（k）+0.5）];
????by=?xoi（k2）+?[0.2*sin（haoi（k）-0.5）?0.3*sin（haoi（k））?...
????????0.2*sin（haoi（k）+0.5）?0.2*sin（haoi（k）-0.5）?...
????????-0.2*sin（haoi（k）+0.5）?-0.3*sin（haoi（k））?...
????????-0.2*sin（haoi（k）-0.5）?-0.2*sin（haoi（k）+0.5）?...
????????-0.2*sin（haoi（k）-0.5）?0.2*sin（haoi（k）+0.5）];
????plot（xoi（1:k1）xoi（1:k2）‘b-‘bxby‘b-‘[0?3?4][0?0?4]‘ko‘...
????[xoi（k1）xoi（k1）+uoi（k）/max（abs（uoptu））*cos（toi（k））]...
????????[xoi（k2）xoi（k2）+uoi（k）/max（abs（uoptu））*sin（toi（k））]...
????????‘r:‘‘LineWidth‘2）;?%?using?red?dotted?line?to?denote?direction?of
????%?the?trust?and?its?length?is?proportional?to?the?control?effort?$u$
????hold?on;quiver（xyfxfy1‘LineWidth‘2‘Color‘‘black‘）;hold?off
????xlabel（‘x_1（t）‘‘fontsize‘14）
????ylabel（‘x_2（t）‘‘fontsize‘14）
????set（gca‘FontSize‘12）
????title（[‘\beta=‘int2str（beta）‘?N=‘int2str（N）‘?\rho=‘int2str（rho）]）
????xlim（[-1?5]）;ylim（[-1?5]）;
????axis?square;
????M（k）?=?getframe（gcf）;
end
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-04-27?13:00??Optimal_Control\
?????文件??????138389??2020-03-13?22:47??Optimal_Control\Optimal?Control?Using?Control?Vector?Parameterization.docx
?????文件????????1969??2012-12-18?23:35??Optimal_Control\animateopt.m
?????文件?????????351??2012-12-18?23:10??Optimal_Control\confun1.m
?????文件?????????365??2012-12-18?23:13??Optimal_Control\confun2.m
?????文件?????????247??2012-04-16?11:29??Optimal_Control\costfun1.m
?????文件?????????259??2012-04-16?11:29??Optimal_Control\costfun2.m
?????文件?????????354??2012-04-16?11:30??Optimal_Control\dyneqn1.m
?????文件?????????461??2012-04-16?11:30??Optimal_Control\dyneqn2.m
?????目錄???????????0??2020-03-10?12:47??Optimal_Control\html\
?????文件???????21242??2012-12-19?03:22??Optimal_Control\html\mainproc.html
?????文件????????2611??2012-12-19?03:22??Optimal_Control\html\mainproc.png
?????文件????????6632??2012-12-19?03:18??Optimal_Control\html\mainproc_01.png
?????文件????????4447??2012-12-19?03:18??Optimal_Control\html\mainproc_02.png
?????文件????????4342??2012-12-19?03:18??Optimal_Control\html\mainproc_03.png
?????文件????????6635??2012-12-19?03:18??Optimal_Control\html\mainproc_04.png
?????文件????????6665??2012-12-19?03:22??Optimal_Control\html\mainproc_05.png
?????文件????????5947??2012-12-19?03:22??Optimal_Control\html\mainproc_06.png
?????文件????????6066??2012-12-19?03:22??Optimal_Control\html\mainproc_07.png
?????文件????????6678??2012-12-19?03:22??Optimal_Control\html\mainproc_08.png
?????文件????????3232??2012-12-17?22:53??Optimal_Control\html\mainproc_eq04112.png
?????文件?????????460??2012-12-18?04:56??Optimal_Control\html\mainproc_eq05153.png
?????文件?????????377??2012-12-17?22:25??Optimal_Control\html\mainproc_eq06004.png
?????文件????????1238??2012-12-17?22:25??Optimal_Control\html\mainproc_eq08269.png
?????文件????????2868??2012-12-17?22:53??Optimal_Control\html\mainproc_eq08551.png
?????文件????????7994??2012-12-17?23:00??Optimal_Control\html\mainproc_eq17708.png
?????文件?????????813??2012-12-17?22:30??Optimal_Control\html\mainproc_eq19825.png
?????文件?????????314??2012-12-18?04:56??Optimal_Control\html\mainproc_eq20099.png
?????文件?????????813??2012-12-17?22:33??Optimal_Control\html\mainproc_eq33539.png
?????文件?????????277??2012-12-17?22:25??Optimal_Control\html\mainproc_eq35435.png
?????文件????????1827??2012-12-17?22:32??Optimal_Control\html\mainproc_eq39630.png
............此處省略18個文件信息