How to get the regression matrix of 4 parameters？

[flamelx]

Since I want to do adaptive control, through this equation M(q)·v_dot+C(q,q_dot)·v+G=Y(q,q_dot,v,v_dot), finally get the regression matrix of four parameters , Can I generate such a matrix by changing the code?

[flamelx]

slotine-li adaptive control form

[gordonwwang]

Since I want to do adaptive control, through this equation M(q)·v_dot+C(q,q_dot)·v+G=Y(q,q_dot,v,v_dot), finally get the regression matrix of four parameters , Can I generate such a matrix by changing the code?

Do you want to get parameters ，such as M、C、G、Yr？ Maybe you can run this code:

#打印观测矩阵Yr
print('观测矩阵Yr查看：')
print(rbt.Hb_code)
print('\n')

#打印参数项 M、C、G
print('参数项M、C、G查看：')
print(rbt.M_code)
print(rbt.C_code)
print(rbt.g_code)