Delete old LQR code

2 files changed, 0 insertions, 250 deletions

diff --git a/uav_ctrl_lqr.m b/uav_ctrl_lqr.m
deleted file mode 100644
index 8063c64..0000000
--- a/uav_ctrl_lqr.m
+++ /dev/null
@@ -1,39 +0,0 @@
-% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
-% 
-% Design a nominal controller for UAV.
-
-function [ctrl_lqr] = uav_ctrl_lqr(params, model)
-
-% ------------------------------------------------------------------------
-% Design a Kalman filter for state estimation
-
-G = model.linear.StateSpace
-[L, P, E] = lqe(G.A, G.
-
-% ------------------------------------------------------------------------
-% Design a nominal LQR controller
-
-% Define penalties according to following priorities
-
-q_pos = 1; % penalty on position
-q_vel = 10; % penalty on linear velocity
-q_ang = 10; % high penalty on angles
-q_rate = 10; % very high penalty on angular velocities
-
-r_ang = 1; % flap movement is cheap
-r_thrust = 10; % thrust is more expensive on the battery
-
-% LQR design matrices
-Q = kron(diag([q_pos, q_vel, q_ang, q_rate]), eye(3));
-R = diag([r_ang, r_ang, r_ang, r_ang, r_thrust]);
-
-% Compute controller using output lqr
-[K, S, poles] = lqry(model.linear.StateSpace, Q, R);
-
-% ------------------------------------------------------------------------
-% Save controller
-
-ctrl_lqr = struct('Name', 'LQR', 'K', K);
-
-end
-% vim: ts=2 sw=2 et:
diff --git a/uav_sim_step_lqr.m b/uav_sim_step_lqr.m
deleted file mode 100644
index e672d35..0000000
--- a/uav_sim_step_lqr.m
+++ /dev/null
@@ -1,211 +0,0 @@
-% Simulate a step responses of ducted-fan VTOL micro-UAV.
-%
-% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich
-% This work is distributed under a permissive license, see LICENSE.txt
-
-function [simout] = uav_sim_step_lqr(params, model, ctrl, nsamp, do_plots)
-
-% TODO: Close loop
-
-% Create step inputs (normalized)
-noise = zeros(7, nsamp); % no noise
-ref_step = ones(1, nsamp); % 1d step function
-
-in_step_x = [ noise; ref_step; zeros(2, nsamp) ];
-in_step_y = [ noise; zeros(1, nsamp); ref_step; zeros(1, nsamp) ];
-in_step_z = [ noise; zeros(2, nsamp); ref_step ];
-
-% Simulation time
-n_settle_times = 10;
-T_final_horiz = n_settle_times * params.performance.HorizontalSettleTime;
-T_final_vert = n_settle_times * params.performance.VerticalSettleTime;
-
-t_xy = linspace(0, T_final_horiz, nsamp);
-t_z = linspace(0, T_final_vert, nsamp);
-
-% Simulate step responses
-out_step_x = lsim(P_nom_clp, in_step_x, t_xy);
-out_step_y = lsim(P_nom_clp, in_step_y, t_xy);
-out_step_z = lsim(P_nom_clp, in_step_z, t_z);
-
-if do_plots
-  % Conversion factors
-  to_deg = 180 / pi; % radians to degrees
-  to_rpm = pi / 30; % rad / s to RPM
-
-  % Figure for flaps and Euler angles
-  figure;
-  sgtitle(sprintf(...
-    '\\bfseries Step Response of Flap and Euler Angles (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
-
-  % Plot limits
-  ref_value     = params.performance.ReferencePosMaxDistance;
-  alpha_max_deg = params.actuators.ServoAbsMaxAngle * to_deg;
-  euler_lim_deg = 1.5; % params.performance.AngleMaxPitchRoll * to_deg;
-  omega_max_rpm = (params.actuators.PropellerMaxAngularVelocity ...
-    - params.linearization.Inputs(5)) * to_rpm;
-  omega_min_rpm = -params.linearization.Inputs(5) * to_rpm;
-
-  % Plot step response from x to alpha
-  subplot(2, 3, 1);
-  hold on;
-  plot(t_xy, out_step_x(:, Ialpha(1)) * to_deg);
-  plot(t_xy, out_step_x(:, Ialpha(2)) * to_deg);
-  plot(t_xy, out_step_x(:, Ialpha(3)) * to_deg);
-  plot(t_xy, out_step_x(:, Ialpha(4)) * to_deg);
-  plot([0, T_final_horiz], [1, 1] * alpha_max_deg, 'r--');
-  plot([0, T_final_horiz], [-1, -1] * alpha_max_deg, 'r--');
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]);
-  title('Horizontal $x$ to Flaps', 'Interpreter', 'latex');
-  ylabel('Flap Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from y to alpha
-  subplot(2, 3, 2); hold on;
-  plot(t_xy, out_step_y(:, Ialpha(1)) * to_deg);
-  plot(t_xy, out_step_y(:, Ialpha(2)) * to_deg);
-  plot(t_xy, out_step_y(:, Ialpha(3)) * to_deg);
-  plot(t_xy, out_step_y(:, Ialpha(4)) * to_deg);
-  plot([0, T_final_horiz], [1, 1] * alpha_max_deg, 'r--');
-  plot([0, T_final_horiz], [-1, -1] * alpha_max_deg, 'r--');
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]);
-  title('Horizontal $y$ to Flaps', 'Interpreter', 'latex');
-  ylabel('Flap Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from z to alpha
-  subplot(2, 3, 3); hold on;
-  plot(t_z, out_step_z(:, Ialpha(1)) * to_deg);
-  plot(t_z, out_step_z(:, Ialpha(2)) * to_deg);
-  plot(t_z, out_step_z(:, Ialpha(3)) * to_deg);
-  plot(t_z, out_step_z(:, Ialpha(4)) * to_deg);
-  plot([0, T_final_vert], [1, 1] * alpha_max_deg, 'r--');
-  plot([0, T_final_vert], [-1, -1] * alpha_max_deg, 'r--');
-  grid on;
-  xlim([0, T_final_vert]);
-  ylim([-alpha_max_deg * 1.1, alpha_max_deg * 1.1]);
-  title('Vertical $z$ to Flaps', 'Interpreter', 'latex');
-  ylabel('Flap Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\alpha_1(t)$', '$\alpha_2(t)$', '$\alpha_3(t)$', '$\alpha_4(t)$', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from x to Theta
-  subplot(2, 3, 4); hold on;
-  plot(t_xy, out_step_x(:, ITheta(1)) * to_deg);
-  plot(t_xy, out_step_x(:, ITheta(2)) * to_deg);
-  plot(t_xy, out_step_x(:, ITheta(3)) * to_deg);
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-euler_lim_deg, euler_lim_deg]);
-  title('Horizontal $x$ to Euler Angles', 'Interpreter', 'latex');
-  ylabel('Euler Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from y to Theta
-  subplot(2, 3, 5); hold on;
-  plot(t_xy, out_step_y(:, ITheta(1)) * to_deg);
-  plot(t_xy, out_step_y(:, ITheta(2)) * to_deg);
-  plot(t_xy, out_step_y(:, ITheta(3)) * to_deg);
-  grid on;
-  xlim([0, T_final_horiz]);
-  ylim([-euler_lim_deg, euler_lim_deg]);
-  title('Horizontal $y$ to Euler Angles', 'Interpreter', 'latex');
-  ylabel('Euler Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from z to Theta
-  subplot(2, 3, 6); hold on;
-  plot(t_z, out_step_z(:, ITheta(1)) * to_deg);
-  plot(t_z, out_step_z(:, ITheta(2)) * to_deg);
-  plot(t_z, out_step_z(:, ITheta(3)) * to_deg);
-  grid on;
-  xlim([0, T_final_vert]);
-  ylim([-euler_lim_deg, euler_lim_deg]);
-  title('Vertical $z$ to Euler Angles', 'Interpreter', 'latex');
-  ylabel('Euler Angle (degrees)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\phi(t)$ Roll ', '$\theta(t)$ Pitch ', '$\psi(t)$ Yaw ', ...
-    'Interpreter', 'latex');
-
-  % Plot step response from z to omega
-  figure;
-  sgtitle(sprintf(...
-    '\\bfseries Step Response to Propeller (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
-
-  hold on;
-  step(P_nom_clp(Iomega, Ir(3)) * to_rpm, T_final_vert);
-  plot([0, T_final_vert], [1, 1] * omega_min_rpm, 'r--');
-  plot([0, T_final_vert], [1, 1] * omega_max_rpm, 'r--');
-  grid on;
-  ylim([omega_min_rpm - 1, omega_max_rpm + 1]);
-  title('Vertical $z$ to Thruster $\omega$', 'Interpreter', 'latex');
-  ylabel('Angular Velocity (RPM)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\omega(t)$', 'Interpreter', 'latex');
-
-  % Figure for position and velocity
-  figure;
-  sgtitle(sprintf(...
-    '\\bfseries Step Response of Position and Speed (%s)', ...
-    ctrl.Name), 'Interpreter', 'latex');
-
-  % Plot step response from horizontal reference to horizontal position
-  subplot(2, 2, 1); hold on;
-  plot(t_xy, out_step_x(:, IP(1)));
-  plot(t_xy, out_step_y(:, IP(2)));
-  % plot([0, T_final_horiz], [1, 1] * ref_value, 'r:');
-  % plot(t_xy, out_step_xydes, 'r--');
-  grid on;
-  title('Horizontal Position Error', 'Interpreter', 'latex');
-  ylabel('Error (meters)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$x(t)$', '$y(t)$', 'Interpreter', 'latex');
-
-  % Plot step response horizontal reference to horizontal speed
-  subplot(2, 2, 2); hold on;
-  plot(t_xy, out_step_x(:, IPdot(1)));
-  plot(t_xy, out_step_y(:, IPdot(2)));
-  grid on;
-  title('Horizontal Velocity', 'Interpreter', 'latex');
-  ylabel('Velocity (m / s)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\dot{x}(t)$', '$\dot{y}(t)$', 'Interpreter', 'latex');
-
-  % Plot step response from vertical reference to vertical position
-  subplot(2, 2, 3); hold on;
-  plot(t_z, out_step_z(:, IP(3)));
-  % plot([0, T_final_vert], [1, 1] * ref_value, 'r:');
-  % plot(t_z, out_step_zdes, 'r--');
-  grid on;
-  title('Vertical Position Error', 'Interpreter', 'latex');
-  ylabel('Error (meters)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$z(t)$', 'Interpreter', 'latex');
-
-  % Plot step response vertical reference to vertical speed
-  subplot(2, 2, 4); hold on;
-  plot(t_z, out_step_z(:, IPdot(3)));
-  grid on;
-  title('Vertical Velocity', 'Interpreter', 'latex');
-  ylabel('Velocity (m / s)', 'Interpreter', 'latex');
-  xlabel('Time (seconds)', 'Interpreter', 'latex');
-  legend('$\dot{z}(t)$', 'Interpreter', 'latex');
-end
-
-end
-% vim:ts=2 sw=2 et: