EmaMaker
/
thesis
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

control_act: do not cancel first T_inv and u_track

EmaMaker 2024-07-28 11:25:35 +02:00
parent 787857db1a
commit 5b16f7f631
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
control_act.m
View File

@ -23,8 +23,8 @@ function [u_corr, U_corr_history] = ucorr(t, q, sim_data)
%disp('start of simulation')
q_prec = q;
q_pred=zeros(3,1, pred_hor);
u_track_pred=zeros(2,1, pred_hor+1);
T_inv_pred=zeros(2,2, pred_hor+1);
u_track_pred=zeros(2,1, pred_hor);
T_inv_pred=zeros(2,2, pred_hor);
% for each step in the prediction horizon, integrate the system to
% predict its future state
@ -67,10 +67,10 @@ function [u_corr, U_corr_history] = ucorr(t, q, sim_data)
% calculate u_track_k+C
u_track_pred(:,:,pred_hor+1) = utrack(t+tc*pred_hor, q_prec, sim_data);
% remove u_track_k-1
u_track_pred = u_track_pred(:,:,2:end);
%u_track_pred = u_track_pred(:,:,2:end);
T_inv_pred(:,:,pred_hor+1) = decouple_matrix(q_prec, sim_data.b);
T_inv_pred = T_inv_pred(:,:,2:end);
%T_inv_pred = T_inv_pred(:,:,2:end);
%disp('end of patching data up')