142 lines
3.3 KiB
Matlab
142 lines
3.3 KiB
Matlab
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TEST = 'cardioid'
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CONTROLLER = 2
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sim_data = load(['tests/' TEST '/common.mat']);
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sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
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[ref dref] = set_trajectory(sim_data.TRAJECTORY);
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sim_data.ref = ref;
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sim_data.dref = dref;
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data = load(['tests/' TEST '/' num2str(CONTROLLER) '.mat']);
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sim_data.PREDICTION_HORIZON = data.PREDICTION_HORIZON;
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sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
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sim_data
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[t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data);
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figure('Name', [TEST ' ' num2str(CONTROLLER)] );
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plot_results(t,q,ref_t,U,U_track,U_corr);
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%% FUNCTION DECLARATIONS
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% Discrete-time simulation
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function [t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data)
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tc = sim_data.tc;
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steps = sim_data.tfin/tc
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q = sim_data.q0';
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t = 0;
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[u_discr, u_track, u_corr, U_corr_history] = control_act(t, q, sim_data);
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sim_data.U_corr_history = U_corr_history;
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U = u_discr';
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U_corr = u_corr';
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U_track = u_track';
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for n = 1:steps
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sim_data.old_u_corr = u_corr;
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sim_data.old_u_track = u_track;
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sim_data.old_u = u_discr;
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tspan = [(n-1)*tc n*tc];
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z0 = q(end, :);
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%[v, z] = ode45(@sistema_discr, tspan, z0, u_discr);
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[v, z] = ode45(@(v, z) sistema_discr(v, z, u_discr), tspan, z0);
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q = [q; z];
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t = [t; v];
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[u_discr, u_track, u_corr, U_corr_history] = control_act(t(end), q(end, :), sim_data);
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sim_data.U_corr_history = U_corr_history;
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U = [U; ones(length(v), 1)*u_discr'];
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U_corr = [U_corr; ones(length(v), 1)*u_corr'];
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U_track = [U_track; ones(length(v), 1)*u_track'];
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end
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ref_t = double(subs(sim_data.ref, t'))';
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end
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%%
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% Plots
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function plot_results(t, x, ref, U, U_track, U_corr)
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subplot(4,2,1)
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hold on
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title("trajectory / state")
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plot(ref(:, 1), ref(:, 2), "DisplayName", "Ref")
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plot(x(:, 1), x(:, 2), "DisplayName", "state")
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rectangle('Position', [x(1,1)-0.075, x(1,2)-0.075, 0.15, 0.15], 'Curvature', [1,1])
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xlabel('x')
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ylabel('y')
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legend()
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subplot(4,2,3)
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plot(t, U(:, 1))
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xlabel('t')
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ylabel('input v')
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subplot(4,2,4)
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plot(t, U(:, 2))
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xlabel('t')
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ylabel('input w')
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hold off
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subplot(4,2,5)
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plot(t, U_corr(:, 1))
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xlabel('t')
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ylabel('correction input v')
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subplot(4,2,6)
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plot(t, U_corr(:, 2))
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xlabel('t')
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ylabel('correction input w')
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subplot(4,2,7)
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plot(t, U_track(:, 1))
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xlabel('t')
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ylabel('tracking input v')
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subplot(4,2,8)
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plot(t, U_track(:, 2))
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xlabel('t')
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ylabel('tracking input w')
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ex = ref(:, 1) - x(:, 1);
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ey = ref(:, 2) - x(:, 2);
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subplot(8,8,5)
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hold on
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xlabel('t')
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ylabel('x')
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plot(t, ref(:, 1), "DisplayName", "X_{ref}");
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plot(t, x(:, 1), "DisplayName", "X");
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legend()
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hold off
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subplot(8,8,6)
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plot(t, ex);
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xlabel('t')
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ylabel('x error')
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subplot(8,8,13)
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hold on
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xlabel('t')
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ylabel('y')
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plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
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plot(t, x(:, 2), "DisplayName", "Y");
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legend()
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hold off
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subplot(8,8,14)
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plot(t, ey);
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xlabel('t')
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ylabel('y error')
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subplot(4, 4, 4);
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error_norm = sqrt(ex.*ex + ey.*ey);
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plot(t, error_norm );
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xlabel("t")
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ylabel("error norm")
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end
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