diff options
| -rw-r--r-- | uav.m | 44 | ||||
| -rw-r--r-- | uav_model.m | 12 |
2 files changed, 49 insertions, 7 deletions
@@ -116,7 +116,51 @@ end %% Perform mu-Analysis & DK iteration if do_musyn + fprintf('Performing mu-synthesis controller design...\n') + idx = model.uncertain.index; + P = model.uncertain.StateSpace([idx.OutputUncertain; idx.OutputError; idx.OutputNominal], ... + [idx.InputUncertain; idx.InputExogenous; idx.InputNominal]); + + % Initial values for D-K iteration + D_left = eye(model.uncertain.Nz + model.uncertain.Ne + model.uncertain.Ny); + D_right = eye(model.uncertain.Nv + model.uncertain.Nw + model.uncertain.Nu); + + % Options for H-infinity + nmeas = model.uncertain.Ny; + nctrl = model.uncertain.Nu; + hinfopt = hinfsynOptions('Display', 'on', 'Method', 'RIC', ... + 'AutoScale', 'off', 'RelTol', 1e-3); + + % Number of D-K iterations + niters = 4; + + % Frequency raster resolution to fit D scales + nsamples = 51; + omega = logspace(-2, 2, nsamples); + + % Start DK-iteration + for it = 1:niters + fprintf(' - Running D-K iteration %d ...\n', it); + + % Find controller using H-infinity + [K, ~, gamma, ~] = hinfsyn(D_left * P * D_right, nmeas, nctrl); + fprintf(' H-infinity synthesis gamma: %g\n', gamma); + + % Calculate frequency response of closed loop + N = minreal(lft(P, K), [], false); % slient + N_frd = frd(N, omega); + + % Calculate upper bound D scaling + [mu_bounds, mu_info] = mussv(N_frd, model.uncertain.BlockStructurePerf, 'sU'); + mu_rp = norm(mu_bounds(1,1), inf, 1e-6); + fprintf(' Mu value for RP: %g\n', mu_rp) + + % Fit D-scales + [dsysl, dsysr] = mussvunwrap(mu_info); + D_left = fitfrd(genphase(dsysl(1,1)), 1); + D_right = fitfrd(genphase(dsysr(1,1)), 1); + end end % ------------------------------------------------------------------------ diff --git a/uav_model.m b/uav_model.m index 0af0818..0ec9a67 100644 --- a/uav_model.m +++ b/uav_model.m @@ -318,16 +318,14 @@ usys = ss(ulmod.a, ulmod.b, ulmod.c, ulmod.d); % Specify uncertainty block structure for mussv command blk_stab = [ - 4, 0; % alpha - 1, 0; % omega - 12, 12; % state + 4, 0; % alpha uncert, diagonal + 1, 0; % omega uncert, diagonal + 12, 12; % state uncert, full ]; blk_perf = [ - 4, 0; % alpha - 1, 0; % omega - 3, 3; % position - 3, 3; % velocity + blk_stab; + 10, 14; ]; % Save uncertain model |