diff options
Diffstat (limited to '')
| -rw-r--r-- | uav.m | 18 |
1 files changed, 6 insertions, 12 deletions
@@ -9,7 +9,7 @@ clear; clc; close all; s = tf('s'); do_plots = true; % runs faster without -do_hinf = false; +do_hinf = true; do_musyn = true; fprintf('Controller synthesis for ducted fan VTOL micro-UAV\n') @@ -80,7 +80,7 @@ if do_hinf ); ctrl.hinf = struct( ... - 'Name', '$\mathcal{H}_{\infty}$', ... + 'Name', 'Nominal $\mathcal{H}_{\infty}$', ... 'K', K_inf, ... 'index', index ... ); @@ -142,7 +142,7 @@ drawnow; if do_musyn fprintf('Generating system model for mu-synthesis design...\n'); - model = uav_model(params, perf_musyn, uncert); + model = uav_model(params, perf_hinf, uncert); fprintf('Performing mu-synthesis controller design...\n') @@ -175,7 +175,7 @@ if do_musyn d_scales_max_degree = 5; d_scales_max_err = 15; d_scales_max_err_p = .05; % in percentage - d_scales_improvement_p = .25; % in percentage, avoid diminishing returns + d_scales_improvement_p = .1; % in percentage, avoid diminishing returns % Limit order of scaled plant scaled_plant_reduce_ord = 100; @@ -208,7 +208,7 @@ if do_musyn % according to parameters given above d_scales_degrees = { 0, 0, 0, 0, 0, inf, inf; % alpha - 5, 1, inf, inf, inf, inf, inf; % omega + 3, inf, inf, inf, inf, inf, inf; % omega 0, 0, 0, 0, 0, inf, inf; % state 0, 0, 0, 0, 0, inf, inf; % perf }; @@ -346,10 +346,6 @@ if do_musyn error('Failed to synethesize H-infinity controller'); end - if it == 1 - K_hinf = K; - end - % Calculate frequency response of closed loop N = minreal(lft(P, K), [], false); M = minreal(N(idx.OutputUncertain, idx.InputUncertain), [], false); @@ -623,8 +619,6 @@ if do_musyn Delta = Delta / norm(Delta, inf); % Save controllers - ctrl.hinf = struct('Name', '$\mathcal{H}_{\infty}$', 'K', K_hinf); - ctrl.musyn = struct('Name', '$\mu$-Synthesis', ... 'K', K, 'Delta', Delta, ... 'mu_rp', mu_rp, 'mu_rs', mu_rs); @@ -696,6 +690,6 @@ if do_musyn uncert.Delta = ctrl.musyn.Delta; simout = uav_sim_step(params, model, ctrl.musyn, uncert, nsamples, T, do_plots, do_noise); - simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, 5, do_plots, do_noise); + simout = uav_sim_step(params, model, ctrl.hinf, uncert, nsamples, T, do_plots, do_noise); uncert = rmfield(uncert, 'Delta'); end |