From 1123db696c193cb2adb5f135f63c2d7f08bebaf8 Mon Sep 17 00:00:00 2001 From: a2nr Date: Thu, 8 Apr 2021 19:37:14 +0700 Subject: [PATCH] sync ke artikel --- SOURCE/DataOutMotion.data | 49 +- SOURCE/Distance Error ori.svg | 3298 ++++++++++++++ SOURCE/Distance Error.svg | 3455 ++++++++++++++ SOURCE/Motion Robot ori.svg | 4543 ++++++++++++++++++ SOURCE/Motion Robot.svg | 5050 +++++++++++++++++++++ SOURCE/SM_2015_Rozenheck.m | 36 +- SOURCE/algo_init.m | 2 +- SOURCE/formationControl2ndBuilder.m | 1 + SOURCE/formationControl2ndModelBuilder.m | 21 +- SOURCE/geogebra_algo_init_ilustration.ggb | Bin 52470 -> 29950 bytes 10 files changed, 16385 insertions(+), 70 deletions(-) create mode 100644 SOURCE/Distance Error ori.svg create mode 100644 SOURCE/Distance Error.svg create mode 100644 SOURCE/Motion Robot ori.svg create mode 100644 SOURCE/Motion Robot.svg diff --git a/SOURCE/DataOutMotion.data b/SOURCE/DataOutMotion.data index cf773b7..2c40f4e 100644 --- a/SOURCE/DataOutMotion.data +++ 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-9.2121793516739245 9.3517751816662553 0.067354028114848821 - 19.53455528100038 16.561119485460313 19.905833641544959 17.996405366474541 21.190788708650093 19.157342787602925 21.277616095330256 17.427880283125031 20.905766047974879 15.992105129603086 19.185440225499409 14.865146947734031 -9.4256431810058956 9.6043755702955735 -9.5773317554254724 0.11944003213548021 0.080805120407522052 -9.5888869120694569 0.086815204385511741 -9.4513682122134064 9.5897857083993436 0.066717763337873937 - - +# Created by Octave 5.2.0, Thu Apr 01 10:57:28 2021 WIB diff --git a/SOURCE/Distance Error ori.svg b/SOURCE/Distance Error ori.svg new file mode 100644 index 0000000..396e0ed --- /dev/null +++ b/SOURCE/Distance Error ori.svg @@ -0,0 +1,3298 @@ + + + + + + image/svg+xml + + + + + + Qt SVG Document + Generated with Qt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + 2 + + + + + + + + + + + + + + + 3 + + + + + + + + + + + + + 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a/SOURCE/Motion Robot.svg b/SOURCE/Motion Robot.svg new file mode 100644 index 0000000..ac08246 --- /dev/null +++ b/SOURCE/Motion Robot.svg @@ -0,0 +1,5050 @@ + + + + + + image/svg+xml + + + + + + Qt SVG Document + Generated with Qt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -4 + + + + + + + + + + + + + + + -3 + + + + + + + + + + + + + + + -2 + + + + + + + + + + + + + + + -1 + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + 2 + + + + + + + + + + + + + + + 3 + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + 0.5 + + + + + + + + + + + + + + + 1 + + + + + + + + + + + + + + + 1.5 + + + + + + + + + + + + + + + 2 + + + + + + + + + + + + + + + 2.5 + + + + + + + + + + + + + + + 3 + + + + + + + + + + + + + + + 3.5 + + + + + + + + + + + + + + + + + + + + R1 + + + + + + + + + + + + + + + + + + + + + + + R2 + + + + + + + + + + + + + + + + + + + + + + + R3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/SOURCE/SM_2015_Rozenheck.m b/SOURCE/SM_2015_Rozenheck.m index f43ac25..f9c856e 100644 --- a/SOURCE/SM_2015_Rozenheck.m +++ b/SOURCE/SM_2015_Rozenheck.m @@ -15,16 +15,16 @@ bParam.edgeL = [1 2 1; 3 1 1; ]; bParam.dScale = 3; -bParam.kp1 = 100; -bParam.kp2 = 100; +bParam.kp1 = 80; +bParam.kp2 = 7; bParam.ki1 = 0; bParam.ki2 = 0; bParam.nNodeVref = 1; corRobot = [0; 0;0; - -1; -2;0; - -3; -3;0; + 1; 2;0; + 3; -3;0; ]; % xy xy xy robStateLen = size(bParam.model.origin.A,1); B = [ @@ -39,9 +39,9 @@ B = [ % fvref = fncSpeedRef('s',50,50,robStateLen); fvref = fncSpeedRef('s',0,0,robStateLen); h = .01; -tspan = 1:h:10; +tspan = 1:h:20; -% sys = formationControl2ndBuilder(bParam); +## sys = formationControl2ndBuilder(bParam); % sys = formationControl1stBuilder(bParam); sys = formationControl2ndModelBuilder(bParam); % sys = formationControl1stModelBuilder(bParam); @@ -54,7 +54,7 @@ s1stInit = [corRobot; zeros(size(corRobot)); zeros(size(sys.d))]; s2ndInit = [corRobot;zeros(length(corRobot),1); zeros(length(corRobot),1); _zero;]; s2ndModelInit = [corRobot; zeros(length(corRobot),1); zeros(length(corRobot),1); _zero; zeros(length(corRobot),1);]; -% state_init = s2ndInit; +## state_init = s2ndInit; % state_init = sInit; state_init = s2ndModelInit; % state_init = s1stInit; @@ -65,16 +65,17 @@ startExe = tic; % continue dydt = @(t, y) algo_init(sys,y,fvref(t)); +##dydt = @(t, y) sys.ss(y,fvref(t)); [t,y] = ode45(dydt, tspan, state_init); % discrate taylor methode -% dydt = @(t, y) sys.dss(y, h, fvref(t)) -% t(1,:) = tspan(1); -% y(1,:) = dydt(t(1), state_init); -% for i = 2:length(tspan) -% t(i,:) = tspan(i); -% y(i,:) = dydt(t(i),y(i-1,:)'); -% endfor +## dydt = @(t, y) sys.dss(y, h, fvref(t)); +## t(1,:) = tspan(1); +## y(1,:) = dydt(t(1), state_init); +## for i = 2:length(tspan) +## t(i,:) = tspan(i); +## y(i,:) = dydt(t(i),y(i-1,:)'); +## endfor Dd(1,:) = [norm((sys.K*y(1,1:9)')(1:3)) norm((sys.K*y(1,1:9)')(4:6)) norm((sys.K*y(1,1:9)')(7:9))]'; for i = 2:length(tspan) @@ -149,7 +150,8 @@ plot(t,Dd(:,1),t,Dd(:,2),t,Dd(:,3)) title("distance error") legend() -csvwrite("DataOutMotion.csv", [t y]) -% save DataOutMotion.data y -% save DataErrorEdge.data yans +csvwrite("DataOutMotion.csv", [t y(:,1:9)]) +csvwrite("DataErrorEdge.csv", [t Dd]) +save DataOutMotion.data y(:,1:9) +save DataErrorEdge.data Dd diff --git a/SOURCE/algo_init.m b/SOURCE/algo_init.m index b2f9db8..2ed4c8d 100644 --- a/SOURCE/algo_init.m +++ b/SOURCE/algo_init.m @@ -16,7 +16,7 @@ function state = algo_init(obj, st, vRef) al_state = [st(1:3)' st(obj.nodeStateLength+1:obj.nodeStateLength+3)']'; case 1; - set_point = [2 0 0 0 0 0]'; + set_point = [1 0 0 0 0 0]'; state = obj.Av2(st,[1 0 0])*st + obj.B(st)*obj.d + obj.Kb*vRef; al_state = [st(1:3)' st(obj.nodeStateLength+1:obj.nodeStateLength+3)']'; if norm(al_state - set_point) < .1 diff --git a/SOURCE/formationControl2ndBuilder.m b/SOURCE/formationControl2ndBuilder.m index d77f629..1634ac3 100644 --- a/SOURCE/formationControl2ndBuilder.m +++ b/SOURCE/formationControl2ndBuilder.m @@ -9,6 +9,7 @@ function obj = formationControl2ndBuilder(param) dScale = param.dScale; nNodeVref = param.nNodeVref; obj = struct(); + robStateLen = size(model.syscl.A,1) [obj.R, obj.K, obj.d] = rigidityMatrixFnc(edgeL,robStateLen); obj.m = length(obj.d); obj.n = numNodes(edgeL); diff --git a/SOURCE/formationControl2ndModelBuilder.m b/SOURCE/formationControl2ndModelBuilder.m index deb4d6d..7a4074f 100644 --- a/SOURCE/formationControl2ndModelBuilder.m +++ b/SOURCE/formationControl2ndModelBuilder.m @@ -60,19 +60,32 @@ function obj = formationControl2ndModelBuilder(param) kron(eye(robStateLen),model.syscl.A)+obj.MOdist(st) ... ]; obj.A = @(st) [obj.A1(st); obj.A2(st); obj.A3(st); obj.A4(st); obj.MO(st)]; - obj.Av2 = @(st,select) [obj.A1(st); obj.A2(st); obj.A3(st); obj.A4(st); obj.MOv2(st,select)]; + obj.Av2 = @(st,select) [obj.A1(st); ... + obj.A2(st); ... + obj.A3(st); ... + obj.A4(st); ... + obj.MOv2(st,select)]; obj.sizeA = size(obj.A(ones(obj.stateLength,1))); % build matrix input - obj.B = @(st) [zeros(obj.nodeStateLength,obj.m); kp2*obj.R(st(1:(obj.nodeStateLength)),obj.K)'; zeros(obj.nodeStateLength,obj.m); -ki2*eye(obj.m,obj.m); zeros(obj.nodeStateLength,obj.m)] + obj.B = @(st) [zeros(obj.nodeStateLength,obj.m); ... + kp2*obj.R(st(1:(obj.nodeStateLength)),obj.K)'; ... + zeros(obj.nodeStateLength,obj.m); ... + -ki2*eye(obj.m,obj.m); ... + zeros(obj.nodeStateLength,obj.m)] obj.sizeB = size(obj.B(ones(obj.stateLength,1))); %build state space obj.Kb = zeros(obj.n*3,1); obj.Kb(obj.n+nNodeVref) = 1; - obj.Kb = [kron(obj.Kb,eye(robStateLen)); zeros(obj.m,robStateLen); zeros(obj.nodeStateLength,robStateLen)]; + obj.Kb = [kron(obj.Kb,eye(robStateLen)); ... + zeros(obj.m,robStateLen); ... + zeros(obj.nodeStateLength,robStateLen)]; obj.d = obj.d*dScale; - obj.dss = @(st,h,vRef) (eye(obj.sizeA) + (obj.A(st)*h))*st + obj.B(st)*h*obj.d + obj.Kb*h*vRef; + obj.dss = @(st,h,vRef) (eye(obj.sizeA) ... + + (obj.A(st)*h))*st ... + + obj.B(st)*h*obj.d ... + + obj.Kb*h*vRef; obj.ss= @(st,vRef) obj.A(st)*st + obj.B(st)*obj.d + obj.Kb*vRef; printf("============== Formation Control ============ \n"); diff --git a/SOURCE/geogebra_algo_init_ilustration.ggb b/SOURCE/geogebra_algo_init_ilustration.ggb index 8aec4e08334d937ef55b9afe7c557fc937dab024..5a1e617ad8f36d184018bd827a5dbafd92c3d41c 100644 GIT binary patch literal 29950 zcmV)FK)=6GO9KQH00;;O0CJ;bQUCw|000000000002TlM0B2=yXJuk?VPAA;b!}p9 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