diff --git a/.gitignore b/.gitignore index ecc0fa8..db4ee96 100644 --- a/.gitignore +++ b/.gitignore @@ -2,3 +2,4 @@ *.csv *.png /SOURCE/octave-workspace +*.matrix diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..91baee1 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,14 @@ +{ + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + { + "type": "OctaveDebugger", + "request": "launch", + "name": "SM DEBUG", + "program": "${workspaceFolder}/SOURCE/SM_2015_Rozenheck.m" + } + ] +} \ No newline at end of file diff --git a/.vscode/octave-workspace b/.vscode/octave-workspace new file mode 100644 index 0000000..41ef164 Binary files /dev/null and b/.vscode/octave-workspace differ diff --git a/DOC/RP_2015_Rozenheck.aux b/DOC/RP_2015_Rozenheck.aux new file mode 100644 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char U+043F (decimal 1087) + defining Unicode char U+0440 (decimal 1088) + defining Unicode char U+0441 (decimal 1089) + defining Unicode char U+0442 (decimal 1090) + defining Unicode char U+0443 (decimal 1091) + defining Unicode char U+0444 (decimal 1092) + defining Unicode char U+0445 (decimal 1093) + defining Unicode char U+0446 (decimal 1094) + defining Unicode char U+0447 (decimal 1095) + defining Unicode char U+0448 (decimal 1096) + defining Unicode char U+0449 (decimal 1097) + defining Unicode char U+044A (decimal 1098) + defining Unicode char U+044B (decimal 1099) + defining Unicode char U+044C (decimal 1100) + defining Unicode char U+044D (decimal 1101) + defining Unicode char U+044E (decimal 1102) + defining Unicode char U+044F (decimal 1103) + defining Unicode char U+0450 (decimal 1104) + defining Unicode char U+0451 (decimal 1105) + defining Unicode char U+0452 (decimal 1106) + defining Unicode char U+0453 (decimal 1107) + defining Unicode char U+0454 (decimal 1108) + defining Unicode char U+0455 (decimal 1109) + defining Unicode char U+0456 (decimal 1110) + defining Unicode char U+0457 (decimal 1111) + defining Unicode char U+0458 (decimal 1112) + defining Unicode char U+0459 (decimal 1113) + defining Unicode char U+045A (decimal 1114) + defining Unicode char U+045B (decimal 1115) + defining Unicode char U+045C (decimal 1116) + defining Unicode char U+045D (decimal 1117) + defining Unicode char U+045E (decimal 1118) + defining Unicode char U+045F (decimal 1119) + defining Unicode char U+0490 (decimal 1168) + defining Unicode char U+0491 (decimal 1169) + defining Unicode char U+0492 (decimal 1170) + defining Unicode char U+0493 (decimal 1171) + defining Unicode char U+0496 (decimal 1174) + defining Unicode char U+0497 (decimal 1175) + defining Unicode char U+0498 (decimal 1176) + defining Unicode char U+0499 (decimal 1177) + defining Unicode char U+049A (decimal 1178) + defining Unicode char U+049B (decimal 1179) + defining Unicode char U+049C (decimal 1180) + defining Unicode char U+049D (decimal 1181) + defining Unicode char U+04A0 (decimal 1184) + defining Unicode char U+04A1 (decimal 1185) + defining Unicode char U+04A2 (decimal 1186) + defining Unicode char U+04A3 (decimal 1187) + defining Unicode char U+04A4 (decimal 1188) + defining Unicode char U+04A5 (decimal 1189) + defining Unicode char U+04AA (decimal 1194) + defining Unicode char U+04AB (decimal 1195) + defining Unicode char U+04AE (decimal 1198) + defining Unicode char U+04AF (decimal 1199) + defining Unicode char U+04B0 (decimal 1200) + defining Unicode char U+04B1 (decimal 1201) + defining Unicode char U+04B2 (decimal 1202) + defining Unicode char U+04B3 (decimal 1203) + defining Unicode char U+04B6 (decimal 1206) + defining Unicode char U+04B7 (decimal 1207) + defining Unicode char U+04B8 (decimal 1208) + defining Unicode char U+04B9 (decimal 1209) + defining Unicode char U+04BA (decimal 1210) + defining Unicode char U+04BB (decimal 1211) + defining Unicode char U+04C0 (decimal 1216) + defining Unicode char U+04C1 (decimal 1217) + defining Unicode char U+04C2 (decimal 1218) + defining Unicode char U+04D0 (decimal 1232) + defining Unicode char U+04D1 (decimal 1233) + defining Unicode char U+04D2 (decimal 1234) + defining Unicode char U+04D3 (decimal 1235) + defining Unicode char U+04D4 (decimal 1236) + defining Unicode char U+04D5 (decimal 1237) + defining Unicode char U+04D6 (decimal 1238) + defining Unicode char U+04D7 (decimal 1239) + defining Unicode char U+04D8 (decimal 1240) + defining Unicode char U+04D9 (decimal 1241) + defining Unicode char U+04DA (decimal 1242) + defining Unicode char U+04DB (decimal 1243) + defining Unicode char U+04DC (decimal 1244) + defining Unicode char U+04DD (decimal 1245) + defining Unicode char U+04DE (decimal 1246) + defining Unicode char U+04DF (decimal 1247) + defining Unicode char U+04E2 (decimal 1250) + defining Unicode char U+04E3 (decimal 1251) + defining Unicode char U+04E4 (decimal 1252) + defining Unicode char U+04E5 (decimal 1253) + defining Unicode char U+04E6 (decimal 1254) + defining Unicode char U+04E7 (decimal 1255) + defining Unicode char U+04E8 (decimal 1256) + defining Unicode char U+04E9 (decimal 1257) + defining Unicode char U+04EC (decimal 1260) + defining Unicode char U+04ED (decimal 1261) + defining Unicode char U+04EE (decimal 1262) + defining Unicode char U+04EF (decimal 1263) + defining Unicode char U+04F0 (decimal 1264) + defining Unicode char U+04F1 (decimal 1265) + defining Unicode char U+04F2 (decimal 1266) + defining Unicode char U+04F3 (decimal 1267) + defining Unicode char U+04F4 (decimal 1268) + defining Unicode char U+04F5 (decimal 1269) + defining Unicode char U+04F8 (decimal 1272) + defining Unicode char U+04F9 (decimal 1273) + defining Unicode char U+200C (decimal 8204) + defining Unicode char U+2013 (decimal 8211) + defining Unicode char U+2014 (decimal 8212) + defining Unicode char U+2018 (decimal 8216) + defining Unicode char U+2019 (decimal 8217) + defining Unicode char U+201C (decimal 8220) + defining Unicode char U+201D (decimal 8221) + defining Unicode char U+201E (decimal 8222) + defining Unicode char U+2030 (decimal 8240) + defining Unicode char U+2031 (decimal 8241) + defining Unicode char U+2116 (decimal 8470) + defining Unicode char U+2329 (decimal 9001) + defining Unicode char U+232A (decimal 9002) + defining Unicode char U+2423 (decimal 9251) +)) +(/usr/share/texlive/texmf-dist/tex/latex/ly1/ly1enc.def +File: ly1enc.def 2009/07/22 v0.7 TeX 'n ANSI encoding (DPC/KB) +Now handling font encoding LY1 ... +... processing UTF-8 mapping file for font encoding LY1 + +(/usr/share/texlive/texmf-dist/tex/latex/base/ly1enc.dfu +File: ly1enc.dfu 2018/04/05 v1.2c UTF-8 support for inputenc + defining Unicode char U+00A0 (decimal 160) + defining Unicode char U+00A1 (decimal 161) + defining Unicode char U+00A2 (decimal 162) + defining Unicode char U+00A3 (decimal 163) + defining Unicode char U+00A4 (decimal 164) + defining Unicode char U+00A5 (decimal 165) + defining Unicode char U+00A6 (decimal 166) + defining Unicode char U+00A7 (decimal 167) + defining Unicode char U+00AA (decimal 170) + defining Unicode char U+00AB (decimal 171) + defining Unicode char U+00AD (decimal 173) + defining Unicode char U+00AE (decimal 174) + defining Unicode char U+00B0 (decimal 176) + defining Unicode char U+00B5 (decimal 181) + defining Unicode char U+00B6 (decimal 182) + defining Unicode char U+00B7 (decimal 183) + defining Unicode char U+00BA (decimal 186) + defining Unicode char U+00BB (decimal 187) + defining Unicode char U+00BC (decimal 188) + defining Unicode char U+00BD (decimal 189) + defining Unicode char U+00BE (decimal 190) + defining Unicode char U+00BF (decimal 191) + defining Unicode char U+00C0 (decimal 192) + defining Unicode char U+00C1 (decimal 193) + defining Unicode char U+00C2 (decimal 194) + defining Unicode char U+00C3 (decimal 195) + defining Unicode char U+00C4 (decimal 196) + defining Unicode char U+00C5 (decimal 197) + defining Unicode char U+00C6 (decimal 198) + defining Unicode char U+00C7 (decimal 199) + defining Unicode char U+00C8 (decimal 200) + defining Unicode char U+00C9 (decimal 201) + defining Unicode char U+00CA (decimal 202) + defining Unicode char U+00CB (decimal 203) + defining Unicode char U+00CC (decimal 204) + defining Unicode char U+00CD (decimal 205) + defining Unicode char U+00CE (decimal 206) + defining Unicode char U+00CF (decimal 207) + defining Unicode char U+00D0 (decimal 208) + defining Unicode char U+00D1 (decimal 209) + defining Unicode char U+00D2 (decimal 210) + defining Unicode char U+00D3 (decimal 211) + defining Unicode char U+00D4 (decimal 212) + defining Unicode char U+00D5 (decimal 213) + defining Unicode char U+00D6 (decimal 214) + defining Unicode char U+00D8 (decimal 216) + defining Unicode char U+00D9 (decimal 217) + defining Unicode char U+00DA (decimal 218) + defining Unicode char U+00DB (decimal 219) + defining Unicode char U+00DC (decimal 220) + defining Unicode char U+00DD (decimal 221) + defining Unicode char U+00DE (decimal 222) + defining Unicode char U+00DF (decimal 223) + defining Unicode char U+00E0 (decimal 224) + defining Unicode char U+00E1 (decimal 225) + defining Unicode char U+00E2 (decimal 226) + defining Unicode char U+00E3 (decimal 227) + defining Unicode char U+00E4 (decimal 228) + defining Unicode char U+00E5 (decimal 229) + defining Unicode char U+00E6 (decimal 230) + defining Unicode char U+00E7 (decimal 231) + defining Unicode char U+00E8 (decimal 232) + defining Unicode char U+00E9 (decimal 233) + defining Unicode char U+00EA (decimal 234) + defining Unicode char U+00EB (decimal 235) + defining Unicode char U+00EC (decimal 236) + defining Unicode char U+00ED (decimal 237) + defining Unicode char U+00EE (decimal 238) + defining Unicode char U+00EF (decimal 239) + defining Unicode char U+00F0 (decimal 240) + defining Unicode char U+00F1 (decimal 241) + defining Unicode char U+00F2 (decimal 242) + defining Unicode char U+00F3 (decimal 243) + defining Unicode char U+00F4 (decimal 244) + defining Unicode char U+00F5 (decimal 245) + defining Unicode char U+00F6 (decimal 246) + defining Unicode char U+00F8 (decimal 248) + defining Unicode char U+00F9 (decimal 249) + defining Unicode char U+00FA (decimal 250) + defining Unicode char U+00FB (decimal 251) + defining Unicode char U+00FC (decimal 252) + defining Unicode char U+00FD (decimal 253) + defining Unicode char U+00FE (decimal 254) + defining Unicode char U+00FF (decimal 255) + defining Unicode char U+0131 (decimal 305) + defining Unicode char U+0141 (decimal 321) + defining Unicode char U+0142 (decimal 322) + defining Unicode char U+0152 (decimal 338) + defining Unicode char U+0153 (decimal 339) + defining Unicode char U+0160 (decimal 352) + defining Unicode char U+0161 (decimal 353) + defining Unicode char U+0174 (decimal 372) + defining Unicode char U+0175 (decimal 373) + defining Unicode char U+0176 (decimal 374) + defining Unicode char U+0177 (decimal 375) + defining Unicode char U+0178 (decimal 376) + defining Unicode char U+017D (decimal 381) + defining Unicode char U+017E (decimal 382) + defining Unicode char U+0192 (decimal 402) + defining Unicode char U+0218 (decimal 536) + defining Unicode char U+0219 (decimal 537) + defining Unicode char U+021A (decimal 538) + defining Unicode char U+021B (decimal 539) + defining Unicode char U+02C6 (decimal 710) + defining Unicode char U+02DC (decimal 732) + defining Unicode char U+2013 (decimal 8211) + defining Unicode char U+2014 (decimal 8212) + defining Unicode char U+201C (decimal 8220) + defining Unicode char U+201D (decimal 8221) + defining Unicode char U+2020 (decimal 8224) + defining Unicode char U+2021 (decimal 8225) + defining Unicode char U+2022 (decimal 8226) + defining Unicode char U+2026 (decimal 8230) + defining Unicode char U+2030 (decimal 8240) + defining Unicode char U+2039 (decimal 8249) + defining Unicode char U+203A (decimal 8250) + defining Unicode char U+2122 (decimal 8482) +)) +(/usr/share/texlive/texmf-dist/tex/latex/base/t1enc.def +File: t1enc.def 2017/04/05 v2.0i Standard LaTeX file +LaTeX Font Info: Redeclaring font encoding T1 on input line 48. +) +LaTeX Font Info: Try loading font information for T1+ptm on input line 105. + +(/usr/share/texlive/texmf-dist/tex/latex/psnfss/t1ptm.fd +File: t1ptm.fd 2001/06/04 font definitions for T1/ptm. +)) +(/usr/share/texlive/texmf-dist/tex/latex/base/textcomp.sty +Package: textcomp 2017/04/05 v2.0i Standard LaTeX package +Package textcomp Info: Sub-encoding information: +(textcomp) 5 = only ISO-Adobe without \textcurrency +(textcomp) 4 = 5 + \texteuro +(textcomp) 3 = 4 + \textohm +(textcomp) 2 = 3 + \textestimated + \textcurrency +(textcomp) 1 = TS1 - \textcircled - \t +(textcomp) 0 = TS1 (full) +(textcomp) Font families with sub-encoding setting implement +(textcomp) only a restricted character set as indicated. +(textcomp) Family '?' is the default used for unknown fonts. +(textcomp) See the documentation for details. +Package textcomp Info: Setting ? sub-encoding to TS1/1 on input line 79. + +(/usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.def +File: ts1enc.def 2001/06/05 v3.0e (jk/car/fm) Standard LaTeX file +Now handling font encoding TS1 ... +... processing UTF-8 mapping file for font encoding TS1 + +(/usr/share/texlive/texmf-dist/tex/latex/base/ts1enc.dfu +File: ts1enc.dfu 2018/04/05 v1.2c UTF-8 support for inputenc + defining Unicode char U+00A2 (decimal 162) + defining Unicode char U+00A3 (decimal 163) + defining Unicode char U+00A4 (decimal 164) + defining Unicode char U+00A5 (decimal 165) + defining Unicode char U+00A6 (decimal 166) + defining Unicode char U+00A7 (decimal 167) + defining Unicode char U+00A8 (decimal 168) + defining Unicode char U+00A9 (decimal 169) + defining Unicode char U+00AA (decimal 170) + defining Unicode char U+00AC (decimal 172) + defining Unicode char U+00AE (decimal 174) + defining Unicode char U+00AF (decimal 175) + defining Unicode char U+00B0 (decimal 176) + defining Unicode char U+00B1 (decimal 177) + defining Unicode char U+00B2 (decimal 178) + defining Unicode char U+00B3 (decimal 179) + defining Unicode char U+00B4 (decimal 180) + defining Unicode char U+00B5 (decimal 181) + defining Unicode char U+00B6 (decimal 182) + defining Unicode char U+00B7 (decimal 183) + defining Unicode char U+00B9 (decimal 185) + defining Unicode char U+00BA (decimal 186) + defining Unicode char U+00BC (decimal 188) + defining Unicode char U+00BD (decimal 189) + defining Unicode char U+00BE (decimal 190) + defining Unicode char U+00D7 (decimal 215) + defining Unicode char U+00F7 (decimal 247) + defining Unicode char U+0192 (decimal 402) + defining Unicode char U+02C7 (decimal 711) + defining Unicode char U+02D8 (decimal 728) + defining Unicode char U+02DD (decimal 733) + defining Unicode char U+0E3F (decimal 3647) + defining Unicode char U+2016 (decimal 8214) + defining Unicode char U+2020 (decimal 8224) + defining Unicode char U+2021 (decimal 8225) + defining Unicode char U+2022 (decimal 8226) + defining Unicode char U+2030 (decimal 8240) + defining Unicode char U+2031 (decimal 8241) + defining Unicode char U+203B (decimal 8251) + defining Unicode char U+203D (decimal 8253) + defining Unicode char U+2044 (decimal 8260) + defining Unicode char U+204E (decimal 8270) + defining Unicode char U+2052 (decimal 8274) + defining Unicode char U+20A1 (decimal 8353) + defining Unicode char U+20A4 (decimal 8356) + defining Unicode char U+20A6 (decimal 8358) + defining Unicode char U+20A9 (decimal 8361) + defining Unicode char U+20AB (decimal 8363) + defining Unicode char U+20AC (decimal 8364) + defining Unicode char U+20B1 (decimal 8369) + defining Unicode char U+2103 (decimal 8451) + defining Unicode char U+2116 (decimal 8470) + defining Unicode char U+2117 (decimal 8471) + defining Unicode char U+211E (decimal 8478) + defining Unicode char U+2120 (decimal 8480) + defining Unicode char U+2122 (decimal 8482) + defining Unicode char U+2126 (decimal 8486) + defining Unicode char U+2127 (decimal 8487) + defining Unicode char U+212E (decimal 8494) + defining Unicode char U+2190 (decimal 8592) + defining Unicode char U+2191 (decimal 8593) + defining Unicode char U+2192 (decimal 8594) + defining Unicode char U+2193 (decimal 8595) + defining Unicode char U+2329 (decimal 9001) + defining Unicode char U+232A (decimal 9002) + defining Unicode char U+2422 (decimal 9250) + defining Unicode char U+25E6 (decimal 9702) + defining Unicode char U+25EF (decimal 9711) + defining Unicode char U+266A (decimal 9834) + defining Unicode char U+FEFF (decimal 65279) +)) +LaTeX Info: Redefining \oldstylenums on input line 334. +Package textcomp Info: Setting cmr sub-encoding to TS1/0 on input line 349. +Package textcomp Info: Setting cmss sub-encoding to TS1/0 on input line 350. +Package textcomp Info: Setting cmtt sub-encoding to TS1/0 on input line 351. +Package textcomp Info: 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433.62pt> +File: ./IMG/SIM_FIG2.png Graphic file (type png) + +Package pdftex.def Info: ./IMG/SIM_FIG2.png used on input line 217. +(pdftex.def) Requested size: 173.44933pt x 130.087pt. +<./IMG/circle_form.png, id=28, 578.16pt x 433.62pt> +File: ./IMG/circle_form.png Graphic file (type png) + +Package pdftex.def Info: ./IMG/circle_form.png used on input line 218. +(pdftex.def) Requested size: 173.44933pt x 130.087pt. +<./IMG/sin_form.png, id=29, 578.16pt x 433.62pt> +File: ./IMG/sin_form.png Graphic file (type png) + +Package pdftex.def Info: ./IMG/sin_form.png used on input line 219. +(pdftex.def) Requested size: 173.44933pt x 130.087pt. +LaTeX Font Info: Font shape `T1/XCharter-TLF/b/n' will be +(Font) scaled to size 10.0pt on input line 229. + +Overfull \hbox (6.16913pt too wide) in paragraph at lines 241--243 +\T1/XCharter-TLF/m/n/10 Implementasi berhasil. Peneli-tian men-galami keku-ran- +gan apa-bila vref diberikan pada robot yang berpotensi + [] + +[3] [4 <./IMG/SIM_FIG1.png> <./IMG/SIM_FIG2.png> <./IMG/circle_form.png> <./IMG +/sin_form.png>] (../DOC/RP_2015_Rozenheck.aux) ) +Here is how much of TeX's memory you used: + 27333 strings out of 492719 + 512326 string characters out of 6135367 + 558546 words of memory out of 5000000 + 30769 multiletter control sequences out of 15000+600000 + 591454 words of font info for 74 fonts, out of 8000000 for 9000 + 1137 hyphenation exceptions out of 8191 + 69i,15n,65p,915b,287s stack positions out of 5000i,500n,10000p,200000b,80000s +{/usr/share/texlive/texmf-dist/ +fonts/enc/dvips/xcharter/xch_tuu2ww.enc}{/usr/share/texlive/texmf-dist/fonts/en +c/dvips/cm-super/cm-super-t1.enc} +Output written on ../DOC/RP_2015_Rozenheck.pdf (4 pages, 291610 bytes). +PDF statistics: + 83 PDF objects out of 1000 (max. 8388607) + 57 compressed objects within 1 object stream + 0 named destinations out of 1000 (max. 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+ + + + + + +R2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +R3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/SOURCE/RP_2015_Rozenheck.tex b/SOURCE/RP_2015_Rozenheck.tex index b689156..c0135ba 100644 --- a/SOURCE/RP_2015_Rozenheck.tex +++ b/SOURCE/RP_2015_Rozenheck.tex @@ -204,7 +204,7 @@ Dalam bentuk matrix \end{bmatrix} + \begin{bmatrix} 0 \\ k_{p2}R(x_1)^T \\ 0 \\ -k_{i2} - \end{bmatrix} d + \end{bmatrix} d \label{orde_dua_ss} \end{align} \subsection{Implementasi} @@ -226,6 +226,17 @@ dengan kecepatan vector $[-5;\ 5]$. Akan tetapi ada sebuah error apabila $vref$ dengan kecepatan vector $[5;\, 5]$. Ini diakibatkan ada masalah pada rigiditas graph. +\subsubsection{ time varian bentuk diskrit } +Sederhana dari persamaan-()\ref{orde_dua_ss}) +\begin{align} + \dot{x} &= A(x)x + B(x) d \\ + \frac{x[k+1]-x[k]}{h} &= A(x[k])x[k] + B(x[k])d \\ + x[k+1] &= I + hA(x[k])x[k] + hB(x[k])d\\ + x]k+1] &= A_d[k] x[k] + B_d[k]d \\ + A_d[k] &= I +hA(x[k]) \\ + B_d[k] &= hB(x[k]) +\end{align} + \section{Kesimpulan} Implementasi berhasil. Penelitian mengalami kekurangan apabila vref diberikan pada robot yang berpotensi menghasilkan lipatan pada graph. diff --git a/SOURCE/SM_2015_Rozenheck.m b/SOURCE/SM_2015_Rozenheck.m index ed74260..8448cf9 100644 --- a/SOURCE/SM_2015_Rozenheck.m +++ b/SOURCE/SM_2015_Rozenheck.m @@ -1,5 +1,7 @@ clear -all + graphics_toolkit('gnuplot') +omni = omni = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./'); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene conRobot = [1 2 1; 3 2 1; @@ -14,22 +16,25 @@ corRobot = [1.5; 1.7;0; 2; 2.5;0; 2.5; 2.8;0; ]; % xy xy xy -robStateLen = length(corRobot)/length(dRobot) +robStateLen = size(omni.origin.A,1); B = [ 1 0; 0 1; 0 0; 0 0; 0 0; 0 0; ]; -kp = 80; -ki = 1; +kp = 150; +ki = 3; % fvref = fncSpeedRef('ysin',50,2,robStateLen); % fvref = fncSpeedRef('xsin',50,2,robStateLen); % fvref = fncSpeedRef('cw',-300,1,robStateLen); % fvref = fncSpeedRef('s',50,50,robStateLen); fvref = fncSpeedRef('s',0,0,robStateLen); -h = .1; +h = .01; tspan = 1:h:10; sys = formationControl2ndBuilder(conRobot,robStateLen,kp,kp,ki,ki,length_d,1); +% sys = formationControl2ndModelBuilder(conRobot,omni.origin,kp,kp,ki,ki,length_d,1); +% sys = formationControl1stModelBuilder(conRobot,omni.origin,kp,kp,ki,ki,length_d,1); + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur [R,K,d] = rigidityMatrixFnc(conRobot,robStateLen); @@ -37,16 +42,34 @@ _zero = zeros(size(R(corRobot,K),1),1); sInit = [corRobot; _zero;]; sAnsInit =[_zero; _zero;]; s2ndInit = [corRobot; %x1 - zeros(length(corRobot),1); %x2 - zeros(length(corRobot),1); %xi1 - _zero]; %xi2 + zeros(length(corRobot),1); %x2 + zeros(length(corRobot),1); %xi1 + _zero;]; %xi2 + % _zero; zeros(length(corRobot),1);]; %x2* +s1stInit = [corRobot; zeros(size(corRobot)); zeros(size(dRobot))]; + +% state_init = sInit; +state_init = s2ndInit; +% state_init = s1stInit; %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start solving printf("Mulai memecakan masalah \n\n"); startExe = tic; -dydt = @(t, y) sys.ss(y,fvref(t)); -[t,y] = ode45(dydt, tspan, s2ndInit); +% continue +% 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); +Dd(1,:) = [norm((K*y(1,1:9)')(1:3)) norm((K*y(1,1:9)')(4:6)) norm((K*y(1,1:9)')(7:9))]'; +for i = 2:length(tspan) + t(i,:) = tspan(i); + y(i,:) = dydt(t(i),y(i-1,:)'); + Dd(i,:) = [norm((K*y(i,1:9)')(1:3)) norm((K*y(i,1:9)')(4:6)) norm((K*y(i,1:9)')(7:9))]'; +endfor endExe = toc(startExe); printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu \n\n", @@ -111,6 +134,11 @@ str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i)); eval(str_tmp) title("Motion dari Robot"); +figure(2) +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 diff --git a/SOURCE/fncSpeedRef.m b/SOURCE/fncSpeedRef.m index 72d0f51..41a0f8c 100644 --- a/SOURCE/fncSpeedRef.m +++ b/SOURCE/fncSpeedRef.m @@ -24,9 +24,21 @@ function fncSr = fncSpeedRef(param,r,v,robStateLen) strSfy = strcat(sprintf("%i*cos(%i*t)",r,v)); endif - elseif (param == 's') - strSfx = strcat(sprintf("%i",r)); - strSfy = strcat(sprintf("%i",v)); + elseif (param(1) == 's') + strSinOcos = strcat(sprintf("%s", param(3:end))); + if (length(param) > 1) + if (param(2) == 'y') + strSfx = strcat(sprintf("%i*%s(%i*t)",r,strSinOcos,v)); + strSfy = strcat(sprintf("%i",0)); + % 'ysin' / 'ycos' + else %if (param(2) == 'x') + strSfx = strcat(sprintf("%i",0)); + strSfy = strcat(sprintf("%i*%s(%i*t)",r,strSinOcos,v)); + endif + else + strSfx = strcat(sprintf("%i",r)); + strSfy = strcat(sprintf("%i",v)); + endif else printf("Karepmu opo ? \n\n bukak fungsi speedRef sek diwoco komen e \n\n"); endif diff --git a/SOURCE/formationControl1stModelBuilder.m b/SOURCE/formationControl1stModelBuilder.m new file mode 100644 index 0000000..c0e1770 --- /dev/null +++ b/SOURCE/formationControl1stModelBuilder.m @@ -0,0 +1,30 @@ +function obj = formationControl1stModelBuilder(edgeL,model,kp1,kp2,ki1,ki2,dScale,nNodeVref) + addpath("./networks-toolbox"); + obj = struct(); + robStateLen = size(model.A,1) + [obj.R, obj.K, obj.d] = rigidityMatrixFnc(edgeL,robStateLen); + obj.m = length(obj.d); + obj.n = numNodes(edgeL); + obj.nodeStateLength = robStateLen*obj.n; + obj.stateLength = 2 * obj.nodeStateLength + obj.m; + _nst = kron(eye(obj.n), model.Nst); + _kst = kron([zeros(obj.n) eye(obj.n)], model.Kst); + %obj.A = kron([zeros(obj.n) zeros(obj.n);zeros(obj.n) eye(obj.n)],model.A) + kron([zeros(obj.n) eye(obj.n);zeros(obj.n) zeros(obj.n)],eye(obj.n)); + % pilih robot mana yang ingin dijalankan dengan mengganti 0 menjadi 1 + % r 1 2 3 r 1 2 3 + % v v v v v v + obj.A = kron([zeros(obj.n) zeros(obj.n);zeros(obj.n) diag([1 0 0])],model.A) + kron([zeros(obj.n) diag([1 0 0]);zeros(obj.n) zeros(obj.n)],eye(obj.n)); + obj.B = kron([zeros(obj.n); eye(obj.n)],model.B); + obj.Ksgn = kron([zeros(obj.n) zeros(obj.n);zeros(obj.n) eye(obj.n)],model.K); + obj.controller = @(set_point,st) arrayfun(model.limit_motor,_nst * set_point + _kst * st(1:(2 * obj.nodeStateLength))); + obj.formation_controller = @(st) -obj.R(st(1:obj.nodeStateLength),obj.K)'*kp1*(obj.R(st(1:obj.nodeStateLength),obj.K)*st(1:obj.nodeStateLength)-(obj.d*dScale)) -obj.R(st(1:obj.nodeStateLength),obj.K)'*ki1*st(obj.stateLength-obj.m+1:obj.stateLength,1); + obj.formation_control_dot = @(st) [obj.R(st(1:obj.nodeStateLength),obj.K) zeros(obj.m, obj.nodeStateLength + obj.m)]; + obj.stateA = @(st) [obj.A zeros(obj.stateLength-obj.m, obj.m); obj.formation_control_dot(st)]; + obj.stateB = [obj.B zeros(obj.stateLength-obj.m, obj.m); zeros(obj.m, size(model.B,2)*obj.n) eye(obj.m)]; + obj.stateKsgn = @(st,h) (h*[obj.Ksgn zeros(obj.stateLength-obj.m, obj.m); zeros(obj.m,obj.stateLength)])*arrayfun(model.sgn,st); + obj.stateInput = @(st) [obj.controller(obj.formation_controller(st), st); obj.d*dScale]; + + obj.ss = @(st,vRef) obj.stateA(st)*st + obj.stateKsgn(st,1) + obj.stateB *obj.stateInput(st); + + obj.dss = @(st,h,vRef) (eye(size(obj.stateA(st))) + (h*obj.stateA(st)))*st + obj.stateKsgn(st,h) + (h*obj.stateB)*obj.stateInput(st); +endfunction \ No newline at end of file diff --git a/SOURCE/formationControl2ndBuilder.m b/SOURCE/formationControl2ndBuilder.m index 08f62e4..30b092f 100644 --- a/SOURCE/formationControl2ndBuilder.m +++ b/SOURCE/formationControl2ndBuilder.m @@ -24,10 +24,11 @@ function obj = formationControl2ndBuilder(edgeL,robStateLen,kp1,kp2,ki1,ki2,dSca obj.Kb(obj.n+nNodeVref) = 1; obj.Kb = [kron(obj.Kb,eye(robStateLen)); zeros(obj.m,robStateLen)]; obj.d = obj.d*dScale; - obj.ssDisc = @(st,vRef,h) (eye(obj.sizeA) + (obj.A(st)*h))*st + obj.B(st)*h*obj.d + obj.Kb*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"); + printf(" state model : %i \n", obj.nodeStateLength); printf(" Node : %i \n", obj.n); printf(" Edge : %i \n", obj.m); printf("Dimention State : %i \n", obj.stateLength); diff --git a/SOURCE/formationControl2ndModelBuilder.m b/SOURCE/formationControl2ndModelBuilder.m new file mode 100644 index 0000000..0d41378 --- /dev/null +++ b/SOURCE/formationControl2ndModelBuilder.m @@ -0,0 +1,44 @@ +function obj = formationControl2ndModelBuilder(edgeL,model,kp1,kp2,ki1,ki2,dScale,nNodeVref) + addpath("./networks-toolbox"); + % pkg load parallel + 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); + obj.nodeStateLength = robStateLen*obj.n; + obj.stateLength = 4 * obj.nodeStateLength + obj.m; + + % build matrix sistem + obj.A1 = @(st) [zeros(obj.nodeStateLength), zeros(obj.nodeStateLength), zeros(obj.nodeStateLength),zeros(obj.nodeStateLength,obj.m), eye(obj.nodeStateLength)]; + obj.A2 = @(st) [-kp2*obj.R(st(1:(obj.nodeStateLength)),obj.K)'*obj.R(st(1:(obj.nodeStateLength)),obj.K), -kp1*eye(obj.nodeStateLength), -eye(obj.nodeStateLength), -obj.R(st(1:(obj.nodeStateLength)),obj.K)',zeros(obj.nodeStateLength)]; + obj.A3 = @(st) [zeros(obj.nodeStateLength), ki1*eye(obj.nodeStateLength), zeros(obj.nodeStateLength), zeros(obj.nodeStateLength,obj.m), zeros(obj.nodeStateLength)]; + obj.A4 = @(st) [ki2*obj.R(st(1:(obj.nodeStateLength)),obj.K), zeros(obj.m,obj.nodeStateLength), zeros(obj.m,obj.nodeStateLength), zeros(obj.m), zeros(obj.m,obj.nodeStateLength)]; + obj.MOsgn =@(st) diag([model.sgn(st(1)) model.sgn(st(2)) model.sgn(st(3))]); + obj.MOdist = @(st) [obj.MOsgn(st(31:33)) zeros(robStateLen) zeros(robStateLen); zeros(robStateLen) obj.MOsgn(st(34:36)) zeros(robStateLen); zeros(robStateLen) zeros(robStateLen) obj.MOsgn(st(37:39))]; + obj.MO = @(st) [zeros(obj.nodeStateLength), kron(eye(robStateLen),model.syscl.B) , zeros(obj.nodeStateLength), zeros(obj.nodeStateLength,obj.m), 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.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.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.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.ss = @(st,vRef) obj.A(st)*st + obj.B(st)*obj.d + obj.Kb*vRef; + + printf("============== Formation Control ============ \n"); + printf(" state model : %i \n", obj.nodeStateLength); + printf(" Node : %i \n", obj.n); + printf(" Edge : %i \n", obj.m); + printf("Dimention State : %i \n", obj.stateLength); + printf(" Dimention A : %i x %i \n", obj.sizeA); + printf(" Dimention B : %i x %i \n", obj.sizeB); + printf("============================================= \n"); + +endfunction \ No newline at end of file diff --git a/SOURCE/identification.m b/SOURCE/identification.m new file mode 100644 index 0000000..8abf310 --- /dev/null +++ b/SOURCE/identification.m @@ -0,0 +1,37 @@ +omni = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./'); + +A = kron(eye(3), [zeros(size(omni.origin.syscl.a)) eye(size(omni.origin.syscl.a)); zeros(size(omni.origin.syscl.a)) omni.origin.syscl.a]); +B = kron(eye(3),kron([0;1],omni.origin.syscl.b)); +R = @(the) [[cos(deg2rad(the)) -sin(deg2rad(the)) 0; sin(deg2rad(the)) cos(deg2rad(the)) 0; [0 0 1];] zeros(size(omni.origin.syscl.a)); zeros(size(omni.origin.syscl.a)) zeros(size(omni.origin.syscl.a))]; +C = @(the1,the2, the3) kron(diag([1 0 0]), R(the1)) + kron(diag([0 1 0]), R(the2)) + kron(diag([0 0 1]), R(the3)); +fvref_cw = fncSpeedRef('cw',4,6,3); +fvref_ysin = fncSpeedRef('sysin',8,6,3); +fvref_xsin = fncSpeedRef('sxsin',8,6,3); +finput = @(t) [fvref_cw(t)+[0 0 90*sin(deg2rad(5*t))]'; fvref_xsin(t); fvref_ysin(t);] + +sys = @(st, input) A*st + B* input; +dydt = @(t, y) sys(y, finput(t)); +RX = @(x,y,the) x*cos(deg2rad(the))-y*sin(deg2rad(the)); +RY = @(x,y,the) y*cos(deg2rad(the))+x*sin(deg2rad(the)); + +init = [0 0 0 0 0 0 5 7 45 0 0 0 -8 4 270 0 0 0]'; +tSpan = 1:.1:50; +[t, y] = ode45(dydt,tSpan,init); +for i=1:size(t,1) + out(i,:) = C(y(i,3),y(i,9)+y(i,3),y(i,15)+y(i,3))*y(i,:)'; + u(i,:) = finput(t(i))'; + d1(i,1) = hypot(out(i,7)-out(i,1),out(i,8)-out(i,2)); + d2(i,1) = hypot(out(i,13)-out(i,1),out(i,14)-out(i,2)); +endfor + +close all +figure(1) +plot(out(:,1), out(:,2), out(:,7), out(:,8), out(:,13), out(:,14)); +figure(2) +plot(t(:,1), d1(:,1), t(:,1), d2(:,1)); +figure(3) +plot(t(:,1), u(:,1), t(:,1), u(:,2), t(:,1), u(:,3)); +% figure(4) +% plot(t(:,1), u(:,4), t(:,1), u(:,5),t(:,1), u(:,6)); +% figure(5) +% plot(t(:,1), u(:,7), t(:,1), u(:,8),t(:,1), u(:,9)); \ No newline at end of file diff --git a/SOURCE/omnidirectional.m b/SOURCE/omnidirectional.m new file mode 100644 index 0000000..9e68b93 --- /dev/null +++ b/SOURCE/omnidirectional.m @@ -0,0 +1,180 @@ +## Omnidirectional Modeling API of Octave by Adnr +function obj = omnidirectional( + %% viscous friction coefficient related to v + %B v (N/m/s) + cBv%0.94 + %% viscous friction coefficient related to v n + %B vn (N/m/s) + , cBvn%0.96 + %% viscous friction coefficient related to ω + %B ω (N/rad/s) + , cBw%0.01 + %% coulomb friction coefficient related to v + %C v (N ) + , cCv%2.2 + %% coulomb friction coefficient related to v n + %C vn (N ) + , cCvn%1.5 + %% coulomb friction coefficient related to ω + %C ω (N.m) + , cCw%0.099 + %% radius of the robot + %b(m) + , cb%0.1 + %% mass of the robot + %M (kg) + , cM%1.5 + %% inertia moment of the robot + %I n (kg.m 2 ) + , cIn%0.025 + %% angle + %δ + , cdlt%30 + %% radius of the wheels + %r 1 , r 2 , r 3 (m) + , cri%0.035 + %% reduction of the motors + %l 1 , l 2 , l 3 + , cli%19 + %% motor’s armature inductance + %L a 1...3 (H) + , cLi%0.00011 + %% motor’s armature resistance + %R a 1...3 (Ω) + , cRai%1.69 + %% motor’s emf constant + %K v 1...3 (V olts/rad/s) + , cKv%0.0059 + %% motor’s torque constant + %K t 1...3 (N.m/A) + , cKt%0.0059 + %%%%%%%%%%%%%%%%%%%%%%%%%%%% + %% Criterion of canonical second-orde system + , zeta + , omega + %% Input constrain + , InCon + , path_file + ) + + pkg load control + obj = struct(); + + %%%%%%% Origin builder + + obj.origin = struct(); + obj.origin.A = [-((3*(cli^2)*(cKt^2))/(2*cM*cRai*(cri^2)))-(cBv/cM),0,0; + 0, -((3*(cli^2)*(cKt^2))/(2*cM*cRai*(cri^2)))-(cBvn/cM),0; + 0,0,-((3*(cb^2)*(cli^2)*(cKt^2))/(2*cIn*cRai*(cri^2)))-(cBw/cIn)]; + obj.origin.B = [0, (cos(cdlt*pi/180)/cM), -(cos(cdlt*pi/180)/cM); + -1/cM, sin(cdlt*pi/180)/cM, sin(cdlt*pi/180)/cM; + cb/cIn, cb/cIn, cb/cIn]; + obj.origin.K = [-cCv/cM, 0,0; + 0, -cCvn/cM, 0; + 0,0,-cCw/cM]; + obj.LENGTH_STATE = size(obj.origin.A,1); + obj.LENGTH_INTPUT = size(obj.origin.B,1); + Q = [500 0 0; 0 500 0; 0 0 5;] + R = eye(3)*0.3; + kst_ = lqr(obj.origin.A,obj.origin.B,Q,R); + nst_ = -pinv(eye(size(obj.origin.A))*inv(obj.origin.A-obj.origin.B*kst_)*obj.origin.B); + syscl = ss(obj.origin.A-obj.origin.B*kst_, obj.origin.B*nst_, eye(3),0); + % step(syscl); + obj.origin.Kst = kst_; + obj.origin.Nst = nst_; + obj.origin.syscl = syscl + %%%%%%% + + A = obj.origin.A; + B = obj.origin.B; + K = obj.origin.K; + obj.LENGTH_STATE = size(A,1)+3; + obj.LENGTH_INPUT = size(B,1); + obj.A = [zeros(size(A)),eye(size(A));zeros(size(A)),A;]; + obj.B = [zeros(size(B));B;]; + obj.K = [zeros(size(B,2),size(B,2));K]; + obj.getState = @(o) zeros(size(A,1)+3,1); + obj.getInput = @(o) zeros(size(B,2),1); + obj.InCon = ones(obj.LENGTH_INPUT)*InCon; + + + %%%%%%%%% Make Controller + obj.controllabilityTest = @(a,b) rank(ctrb(a,b)); + obj.observabilityTest = @(a,c) rank(obsv(a,c)); + s = tf('s'); + obj.Gref = omega^2/(s^2+(2*zeta*omega)*s+omega^2); + p = pole(obj.Gref); + Kst = zeros(3,6); + Nst = zeros(3,6); + Q = { + [ 100 0; 0 10;], %x + [ 100 0; 0 10;], %y + [2000 0; 0 10;] %theta + }; + R = eye(3)*1; + for i = [1:3] + A_ = [0 1; + 0 A(i,i)]; + B_ = [0 0 0; + B(i,1) B(i,2) B(i,3)]; + kst_ = lqr(A_,B_,Q{i},R); + nst_ = -pinv(eye(size(A_))*inv(A_-B_*kst_)*B_); + % syscl = ss(A_-B_*kst_, B_*nst_, eye(2),0); % uncomment for debugging + % step(syscl); + j = ((i-1)*2); + Kst(:,1+j:2+j) = kst_; + Nst(:,1+j:2+j) = nst_; + endfor + obj.Kst = [Kst(:,1) Kst(:,3) Kst(:,5) Kst(:,2) Kst(:,4) Kst(:,6)]; + obj.Nst = [Nst(:,1) Nst(:,3) Nst(:,5) Nst(:,2) Nst(:,4) Nst(:,6)]; + obj.syscl = ss(obj.A-obj.B*obj.Kst,obj.B*obj.Nst,eye(size(obj.A)),[0]); + +%%%%%%%%% Generate discrete state space function + % sgn function, in octave comparison (x compare value) return integer + % result of comparison used to address to value in matrix + obj.sgn = @(x) [0,1,-1](4-(1*(x<0))-(2*(x>0))-(3*(x==0))); + obj.origin.sgn = obj.sgn; + obj.limit_motor = @(x) [x,6,-6](4-(1*(x<-6))-(2*(x>6))-(3*(x<6 & x>-6))); + obj.origin.limit_motor = obj.limit_motor; + + % Kinematic function for coordinate robot to global + obj.rotationOrtogonal = @(the) [cos(the) sin(the) 0; -sin(the) cos(the) 0; 0 0 1]; + + % https://en.wikibooks.org/wiki/Control_Systems/State-Space_Equations#Discretization + % x[k+1] = (1 + AT)x[k] + TBu[k] + TKsgn(x[k]) + % Not using function from control package becouse the system have K term + obj.Aterm = @(o,T,st) (eye(o.LENGTH_STATE,o.LENGTH_STATE)+(o.A*T))*st; + obj.Bterm = @(o,T,st,in) (T*o.B)*in; + obj.Kterm = @(o,T,st,in) ((T*o.K)*[o.sgn(st(4));o.sgn(st(5));o.sgn(st(6))]); + % Original state space robot + obj.disDotState = @(o,T,st,in) o.Aterm(o,T,st)+o.Bterm(o,T,st,in)+o.Kterm(o,T,st,in); + + obj.Uterm = @(o,st,ref) (o.Nst*ref - o.Kst*st); + obj.Cons = @(u) [u,InCon,-InCon](1+(2*(u<-InCon)+(1*(u>InCon)))); + obj.UCons = @(o,u) [o.Cons(u(1)); o.Cons(u(2)); o.Cons(u(3))]; + obj.UIn = @(o,st,ref) o.UCons(o,o.Uterm(o,st,ref)); + % State space included controller + obj.disDotStateCl = @(o,T,st,ref) o.disDotState(o,T,st,o.UCons(o,o.Uterm(o,st,ref))); + obj.Y = @(o,st) [o.rotationOrtogonal(st(3))', zeros(size(A))]*st; + + + % Time eq + obj.disTime = @(T,ti) (ti + abs(T)); + obj.testStabilityExplicit = @(h) abs(eye(size(A))+(h*(A+K))); + obj.testStabilityImplicit = @(h) abs(eye(size(A))-(h*(A+K))); + +%%%%%%%%% PRINT the matrix to file used matrix in python app + csvwrite(strcat(path_file,'A.matrix'),obj.A); + csvwrite(strcat(path_file,'B.matrix'),obj.B); + csvwrite(strcat(path_file,'C.matrix'),[eye(size(A)), zeros(size(A))]); + csvwrite(strcat(path_file,'K.matrix'),obj.K); + csvwrite(strcat(path_file,'Kst.matrix'),obj.Kst); + csvwrite(strcat(path_file,'Nst.matrix'),obj.Nst); + + [y,t] = step(obj.Gref); + csvwrite(strcat(path_file,'Gref.csv'),[y,t]); + csvwrite(strcat(path_file,'poleGref.csv'),pole(obj.Gref)); + + +endfunction + diff --git a/SOURCE/rigidityMatrixFnc.m b/SOURCE/rigidityMatrixFnc.m index fbbb834..18c379a 100644 --- a/SOURCE/rigidityMatrixFnc.m +++ b/SOURCE/rigidityMatrixFnc.m @@ -12,8 +12,9 @@ function [R,K, d] = rigidityMatrixFnc (edgeL,stateLen) printf("Jumlah Robot : %i \n", tmp); % generasi vector error menggunakan matrix % koneksi - tmp = getNodes(gInc,'adjacency'); + % tmp = getNodes(gInc,'adjacency'); K = kron(adj2inc(edgeL2adj(edgeL))',eye(stateLen)); + tmp = 1:(size(K,1)/stateLen); edgeVector = @(x,k) k*x; % hasil turunan dari fungsi edge str = "errBlockDiagonal = @(errVec) (blkdiag("; diff --git a/SOURCE/sgn.m b/SOURCE/sgn.m new file mode 100644 index 0000000..5eb7af1 --- /dev/null +++ b/SOURCE/sgn.m @@ -0,0 +1,26 @@ +#Friction multiplied +function xo = sgn( x=[x1; x2; x3]) + xo = [0;0;0;]; + if x(1) > 0 ; + xo(1) = 1; + elseif x(1) < 0; + xo(1) = -1; + else; + %% xo(1) = x(1); + endif; + if x(2) > 0 ; + xo(2) = 1; + elseif x(2) < 0; + xo(2) = -1; + else; + %% xo(2) = x(2); + endif; + if x(3) > 0 ; + xo(3) = 1; + elseif x(3) < 0; + xo(3) = -1; + else; + %% xo(3) = x(3); + endif; +endfunction +