Newton-like search algorithm for the reconstruction of admissible joint-references from a prescribed output-reference for the non-Standard and Generalized N-Trailers

This dataset consists of the source Matlab files (the m-files) which implement the computational Newton-like algorithm solving the reconstruction problem for the joint-references of the non-Standard and Generalized N-Trailers upon a prescribed reference path of the last trailer. A user can examine the effectiveness and properties of the algorithm by selecting one of the seven possible 3-trailer structures with various types of hitching. The default reference path prescribed for the last trailer implemented in the code is a parametrized Lissajous-like closed curve defined on the normalized interval [0,1] of the parametrizing variable. The program computes a set of parameters (the weights) for a Fourier basis with up to 2000 harmonics chosen to approximate an evolution of the reference joint angles. The results being obtained during the computations are plotted on-the-fly, and the approximation accuracy is provided by the values of quality factors.

本数据集包含用于实现类牛顿计算算法的Matlab源代码文件（即m文件），该算法用于求解非标准与广义N拖车系统的联合参考重构问题，求解基于最后一节拖车的指定参考路径。用户可通过选取七种带不同铰接方式的3拖车结构中的任意一种，检验该算法的有效性与特性。代码中为最后一节拖车预设的默认参考路径，是在参数化变量的归一化区间[0,1]上定义的参数化类李萨如闭合曲线。该程序将计算一组用于傅里叶基的权重参数，最多可选取2000次谐波以近似参考关节角的演化过程。计算过程中得到的结果将实时绘图输出，同时通过品质因数的数值给出逼近精度。