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Diffstat (limited to '')
| -rw-r--r-- | uav_ctrl_nominal.m | 38 |
1 files changed, 0 insertions, 38 deletions
diff --git a/uav_ctrl_nominal.m b/uav_ctrl_nominal.m deleted file mode 100644 index 1030233..0000000 --- a/uav_ctrl_nominal.m +++ /dev/null @@ -1,38 +0,0 @@ -% Copyright (C) 2024, Naoki Sean Pross, ETH Zürich -% -% Design a nominal controller for UAV. - -function [ctrl] = uav_ctrl_nominal(params, model) - -% ------------------------------------------------------------------------ -% 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 = 100; % high penalty on angles -q_rate = 100; % very high penalty on angular velocities - -r_ang = 1; % flap movement is cheap -r_thrust = 100; % thrust is more expensive on the battery - -nx = model.linear.Nx; -nu = model.linear.Nu; - -% 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]); -N = zeros(nx, nu); % no cross terms - -% Compute controller -[K, S, poles] = lqr(model.linear.StateSpace, Q, R, N); - -% ------------------------------------------------------------------------ -% Save controller - -ctrl = struct(); -ctrl.K = K; - -end -% vim: ts=2 sw=2 et: |