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bug: correctly use sistema_discr instead of sistema 

sistema internally recalc's the input, while sistema_discr takes it as argument
This saves a lot of time when simulating  in discrete-time
EmaMaker 2024-07-24 14:59:16 +02:00
parent ec8b2dcecb
commit dd8066f75c
5 changed files with 9 additions and 9 deletions
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4
sistema.m
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@ -1,3 +1,3 @@
function q = sistema(t, q)
q = unicycle(t, q, control_act(t, q));
function dq = sistema(t, q)
dq = unicycle(t, q, control_act(t, q));
end

4
sistema_discr.m
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@ -1,4 +1,4 @@
function x = sistema_discr(t, q)
function dq = sistema_discr(t, q)
global u_discr
q = unicycle(t, q, u_discr);
dq = unicycle(t, q, u_discr);
end

2
tesiema.m
View File

@ -78,7 +78,7 @@ function [t, q, ref_t, U] = simulate_discr(tfin)
tspan = [(n-1)*tc n*tc];
z0 = q(end, :);
[v, z] = ode45(@sistema, tspan, z0);
[v, z] = ode45(@sistema_discr, tspan, z0);
q = [q; z];
t = [t; v];

0
tesiema.mlx → tesiema_live.mlx
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8
unicycle.m
View File

@ -1,7 +1,7 @@
function dx = unicycle(t, x, u)
function dq = unicycle(t, q, u)
% u is (v;w)
% x is (x; y; theta)
theta = x(3);
G_x = [cos(theta), 0; sin(theta), 0; 0, 1];
dx = G_x*u;
theta = q(3);
G_q = [cos(theta), 0; sin(theta), 0; 0, 1];
dq = G_q*u;
end