diff options
Diffstat (limited to 'uav.m')
| -rw-r--r-- | uav.m | 94 |
1 files changed, 57 insertions, 37 deletions
@@ -8,8 +8,10 @@ clear; clc; close all; s = tf('s'); params = uav_params(); +do_plots = false; + % ------------------------------------------------------------------------ -% Define performance requirements +%% Define performance requirements % Mechanically, flaps are constrained to a max of 20~25 degrees, % and they have a maximal angular speed @@ -31,61 +33,69 @@ v_z_max = params.performance.MaxVerticalSpeed; W_Pxy = 1 / (s + 1 / v_xy_max); W_Pz = 1 / (s + 1 / v_z_max); -% Bode plots of performance requirements -figure; hold on; +if do_plots + % Bode plots of performance requirements + figure; hold on; + + bodemag(1/W_Palpha); + bodemag(1/W_Pomega); + bodemag(1/W_Pxy); + bodemag(1/W_Pz); -bodemag(1/W_Palpha); -bodemag(1/W_Pomega); -bodemag(1/W_Pxy); -bodemag(1/W_Pz); + grid on; + legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ... + '$W_{P,xy}$', '$W_{P,z}$', ... + 'interpreter', 'latex', 'fontSize', 8); + title('Performance requirements'); -grid on; -legend('$W_{P,\alpha}$', '$W_{P,\omega}$', ... - '$W_{P,xy}$', '$W_{P,z}$', ... - 'interpreter', 'latex', 'fontSize', 8); -title('Performance requirements'); -% Step response of position requirements -figure; hold on; -step(W_Pxy); step(W_Pz); -grid on; -legend('$W_{P,xy}$', '$W_{P,z}$', 'interpreter', 'latex', 'fontSize', 8); -title('Step responses of position performance requirements'); + % Step response of position requirements + figure; hold on; + step(W_Pxy); step(W_Pz); + grid on; + legend('$W_{P,xy}$', '$W_{P,z}$', 'interpreter', 'latex', 'fontSize', 8); + title('Step responses of position performance requirements'); +end % Construct performance for position vector by combining xy and z W_PP = blkdiag(W_Pxy * eye(2), W_Pz); +W_PPdot = tf(1,1) * eye(3); +W_PTheta = tf(1,1) * eye(3); +W_POmega = tf(1,1) * eye(3); perf = struct(... 'FlapAngle', W_Palpha * eye(4), ... 'Thrust', W_Pomega, ... - 'PositionAccuracy', W_PP); + 'Position', W_PP, ... + 'Velocity', W_PPdot, ... + 'Angle', W_PTheta, ... + 'AngularVelocity', W_POmega); % ------------------------------------------------------------------------ -% Define stability requirements +%% Define stability requirements W_malpha = tf(1,1); W_momega = tf(1,1); -W_mTheta = tf(1,1); -W_mOmega = tf(1,1); +W_mState = tf(1,1); -figure; hold on; +if do_plots + figure; hold on; -bodemag(W_malpha); -bodemag(W_momega); -bodemag(W_mTheta); -bodemag(W_mOmega); + bodemag(W_malpha); + bodemag(W_momega); + bodemag(W_mState); -grid on; -legend('$W_{m,\alpha}$', '$W_{m,\omega}$', ... - '$W_{m,\Theta}$', '$W_{m,\Omega}$', ... - 'interpreter', 'latex', 'fontSize', 8); -title('Uncertainties') + grid on; + legend('$W_{m,\alpha}$', '$W_{m,\omega}$', ... + '$W_{m,\Theta}$', '$W_{m,\Omega}$', ... + 'interpreter', 'latex', 'fontSize', 8); + title('Uncertainties') +end uncert = struct(... 'FlapAngle', W_malpha * eye(4), ... 'Thrust', W_momega, ... - 'EulerAnglesApprox', W_mTheta * eye(3), ... - 'AngularRateApprox', W_mOmega * eye(3)); + 'StateLinApprox', W_mState * eye(12)); % ------------------------------------------------------------------------ % Create UAV model @@ -93,10 +103,20 @@ uncert = struct(... model = uav_model(params, perf, uncert); % ------------------------------------------------------------------------ -% Perform H-infinity design +%% Perform H-infinity design + +idx = model.uncertain.index; +idx_ey = [idx.OutputError; idx.OutputNominal]; +idx_wu = [idx.InputDisturbance; idx.InputReference; idx.InputNominal]; + +nmeas = max(size(idx.OutputNominal)); % size of y +nctrl = max(size(idx.InputNominal)); % size of u + +% Get nominal system without uncertainty (lower LFT) +G = minreal(model.uncertain.StateSpace(idx_ey, idx_wu)); -Gnom = model.linear.StateSpace; -G = model.uncertain.StateSpace; +hinfopt = hinfsynOptions('Display', 'on', 'Method', 'RIC', 'RelTol', 0.01); +[K_inf, N_inf, gamma, info] = hinfsyn(G, nmeas, nctrl, hinfopt); % ------------------------------------------------------------------------ % Verify performance satisfaction |