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trajectory: cardioid

master
EmaMaker 2024-07-28 12:58:36 +02:00
parent 690013fd1b
commit 58d14dcf9e
3 changed files with 13 additions and 1 deletions
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2
set_initial_conditions.m
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@ -8,5 +8,7 @@ switch i
q0 = [0; 0; pi/6]; q0 = [0; 0; pi/6];
case 3 case 3
q0 = [1; 0; 0]; q0 = [1; 0; 0];
case 4
q0 = [1; 0; -pi/6];
end end
end end

4
set_trajectory.m
View File

@ -41,6 +41,10 @@ switch i
case 10 case 10
xref = cos(0.5*s); xref = cos(0.5*s);
yref = 0.5 * sin(s); yref = 0.5 * sin(s);
case 11
a = 0.5;
xref = 2*a*(1-cos(0.5*s))*sin(0.5*s);
yref = 2*a*(1-cos(0.5*s))*cos(0.5*s);
end end
ref = [xref; yref]; ref = [xref; yref];

8
tesiema.m
View File

@ -15,11 +15,13 @@ for i = 1:s_(2)
TEST = convertStringsToChars(TESTS(i)) TEST = convertStringsToChars(TESTS(i))
sim_data = load(['tests/' TEST '/common.mat']); sim_data = load(['tests/' TEST '/common.mat']);
sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS); sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
[ref dref] = set_trajectory(sim_data.TRAJECTORY); [ref dref] = set_trajectory(sim_data.TRAJECTORY);
sim_data.ref = ref; sim_data.ref = ref;
sim_data.dref = dref; sim_data.dref = dref;
spmd (3) spmd (3)
worker_index = spmdIndex; worker_index = spmdIndex;
data = load(['tests/' TEST '/' num2str(spmdIndex) '.mat']); data = load(['tests/' TEST '/' num2str(spmdIndex) '.mat']);
@ -33,7 +35,7 @@ for i = 1:s_(2)
disp('Done') disp('Done')
end end
h = [] h = [];
s1_ = size(worker_index); s1_ = size(worker_index);
for n = 1:s1_(2) for n = 1:s1_(2)
h_ = figure('Name', [TEST ' ' num2str(n)] ); h_ = figure('Name', [TEST ' ' num2str(n)] );
@ -78,6 +80,10 @@ function [t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data)
U_track = u_track'; U_track = u_track';
for n = 1:steps for n = 1:steps
sim_data.old_u_corr = u_corr;
sim_data.old_u_track = u_track;
sim_data.old_u = u_discr;
tspan = [(n-1)*tc n*tc]; tspan = [(n-1)*tc n*tc];
z0 = q(end, :); z0 = q(end, :);