diff options
Diffstat (limited to '')
| -rw-r--r-- | uav_uncertainty.m | 18 |
1 files changed, 5 insertions, 13 deletions
diff --git a/uav_uncertainty.m b/uav_uncertainty.m index b664cee..53cd975 100644 --- a/uav_uncertainty.m +++ b/uav_uncertainty.m @@ -28,20 +28,12 @@ eps_d = params.aerodynamics.DragCoefficientsUncertainties(1); eps_omega = max(.5 * eps_T, eps_r); eps_alpha = max(eps_l + eps_S + 2 * eps_omega, eps_S + eps_d + eps_omega); -% TODO: set proper constraints -% band pass parameters for W_malpha -% wh = 20; % high freq -% wl = .1; % low freq +b = 10; +G_highpass = make_weight(b, 1, .1); -% W_malpha = eps_alpha * (s / wl) / ((s / wh + 1) * (s / wl + 1)); -% W_momega = eps_omega * 10 / (s + 10); -% W_mState = .01 * 10 / (s + 10); - -b = 1e3; - -W_malpha = make_weight(b, 1 / eps_alpha, 1e-2); -W_momega = tf(0); -W_mState = 1 - 1 / (s / 50 + 1); +W_malpha = eps_alpha * G_highpass; +W_momega = eps_omega * G_highpass; +W_mState = .1 * G_highpass; uncert = struct(... 'FlapAngle', W_malpha * eye(4), ... |