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| author | Nao Pross <np@0hm.ch> | 2024-04-04 20:12:32 +0200 |
|---|---|---|
| committer | Nao Pross <np@0hm.ch> | 2024-04-04 20:12:32 +0200 |
| commit | 734ee9e826b490137e3d8af627019098cafa1403 (patch) | |
| tree | 46666fe7c47eb8cc9240028c30c363d5cbdbe540 /midterm.m | |
| parent | Update a lot of small things and add SIMULINK model (diff) | |
| download | uav-734ee9e826b490137e3d8af627019098cafa1403.tar.gz uav-734ee9e826b490137e3d8af627019098cafa1403.zip | |
Move uncertain model design into uav_model and add more design parameter
Diffstat (limited to '')
| -rw-r--r-- | midterm.m | 77 |
1 files changed, 0 insertions, 77 deletions
diff --git a/midterm.m b/midterm.m deleted file mode 100644 index eca35bc..0000000 --- a/midterm.m +++ /dev/null @@ -1,77 +0,0 @@ -% Copyright (c) 2024, Naoki Sean Pross, ETH Zürich - -%% ------------------------------------------------------------------------ -% Clear environment and generate parameters - -clear; clc; close all; s = tf('s'); -params = uav_params(); - -%% ------------------------------------------------------------------------ -% Create nominal plant - -% Generate nominal model -model = uav_model(params); - -%% ------------------------------------------------------------------------ -% Define performance requirements - -alpha_max = params.actuators.ServoAbsMaxAngleDeg * pi / 180; -W_Palpha = tf(alpha_max,1); - -W_Pomega = tf(1,1); -W_Pxy = tf(1,1); -W_Pz = tf(1,1); - -figure(1); hold on; -bodemag(W_Palpha); -bodemag(W_Pomega); -bodemag(W_Pxy); -bodemag(W_Pz); - -grid on; -legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ... - '$W_{P,xy}$', '$W_{P,z}$', ... - 'interpreter', 'latex', 'fontSize', 8); -title('Performance requirements'); - - -W_PP = blkdiag(W_Pxy * eye(2), W_Pz); - -perf = struct(... - 'FlapAngle', W_Palpha * eye(4), ... - 'Thrust', W_Pomega, ... - 'PositionAccuracy', W_PP); - -%% ------------------------------------------------------------------------ -% Define stability requirements - -% Mechanically, flaps are constrained to a max of 20~25 degrees, -% we assume a precision of -% also, flaps tend to get less precise at higher frequencies -alpha_max = 2 * pi * 20; -W_malpha = alpha_max / (s + 2) * eye(4); - -W_momega = tf(1,1); -W_mTheta = tf(1,1) * eye(3); -W_mOmega = tf(1,1) * eye(3); - -uncert = struct(... - 'FlapAngle', W_malpha, ... - 'Thrust', W_momega, ... - 'EulerAnglesApprox', W_mTheta, ... - 'AngularRateApprox', W_mOmega); - -%% ------------------------------------------------------------------------ -% Create uncertain system - -% Load simulink model with uncertainties -usys = linmod('uav_model_uncertain'); -G = ss(usys.a, usys.b, usys.c, usys.d); - -%% ------------------------------------------------------------------------ -% Perform H-infinity design - -%% ------------------------------------------------------------------------ -% Perform mu-Analysis & DK iteration - -% vim: ts=2 sw=2 et: |