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FormationControlSimulation
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menambah case percobaan

master
a2nr 2021-05-19 14:16:30 +07:00
parent 1123db696c
commit 3e4f4ad01c
2 changed files with 34 additions and 7 deletions
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2
SOURCE/DataOutMotion.data
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@ -1 +1 @@
# Created by Octave 5.2.0, Thu Apr 01 10:57:28 2021 WIB <a2nr@localhost.localdomain> # Created by Octave 5.2.0, Sat Apr 10 23:13:54 2021 WIB <a2nr@localhost.localdomain>

39
SOURCE/SM_2015_Rozenheck.m
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@ -15,17 +15,44 @@ bParam.edgeL = [1 2 1;
3 1 1; 3 1 1;
]; ];
bParam.dScale = 3; bParam.dScale = 3;
bParam.kp1 = 80;
bParam.kp2 = 7;
bParam.ki1 = 0;
bParam.ki2 = 0;
bParam.nNodeVref = 1; bParam.nNodeVref = 1;
bParam.ki1 = 0;
bParam.ki2 = 0;
# CASE 1
bParam.kp1 = 50;
bParam.kp2 = 3;
# CASE 2
##bParam.kp1 = 80;
##bParam.kp2 = 7;
# CASE 3
##bParam.kp1 = 100;
##bParam.kp2 = 15;
#### KOOR 1
##corRobot = [0; 0;0;
## 1; 2;0;
## -2; 3;0;
## ]; % xy xy xy
#### KOOR 2
##corRobot = [0; 0;0;
## -2; -4;0;
## 3; -2;0;
## ]; % xy xy xy
#### KOOR 3
corRobot = [0; 0;0; corRobot = [0; 0;0;
1; 2;0; 1; 2;0;
3; -3;0; 3; -3;0;
]; % xy xy xy ]; % xy xy xy
## KOOR 4
##corRobot = [0; 0;0;
## -2; -3;0;
## 3; 2;0;
## ]; % xy xy xy
robStateLen = size(bParam.model.origin.A,1); robStateLen = size(bParam.model.origin.A,1);
B = [ B = [
1 0; 0 1; 1 0; 0 1;
@ -64,8 +91,8 @@ printf("Mulai memecakan masalah \n\n");
startExe = tic; startExe = tic;
% continue % continue
dydt = @(t, y) algo_init(sys,y,fvref(t)); ##dydt = @(t, y) algo_init(sys,y,fvref(t));
##dydt = @(t, y) sys.ss(y,fvref(t)); dydt = @(t, y) sys.ss(y,fvref(t));
[t,y] = ode45(dydt, tspan, state_init); [t,y] = ode45(dydt, tspan, state_init);
% discrate taylor methode % discrate taylor methode