-
Notifications
You must be signed in to change notification settings - Fork 25
/
Quadrotor_Controller.m
251 lines (189 loc) · 7.59 KB
/
Quadrotor_Controller.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
function [Control, errores] = Quadrotor_Controller(Atmosphere, Quadrotor, Control_Mode, CtrlParam, R, Omega,x,v)
% Reading current state
% X - state vector of the rigid body
% X(1,1) = x; X-position of CM w.r.t. I, expressed in I
% X(2,1) = y; Y-position of CM w.r.t. I, expressed in I
% X(3,1) = z; Y-position of CM w.r.t. I, expressed in I
% X(4,1) = u; X-velocity of CM w.r.t. I, expressed in B
% X(5,1) = v; Y-velocity of CM w.r.t. I, expressed in B
% X(6,1) = w; Z-velocity of CM w.r.t. I, expressed in B
% X(7,1) = phi; Standard Roll Euler angle of B w.r.t I
% X(8,1) = theta; Standard Pitch Euler angle of B w.r.t I
% X(9,1) = psi; Standard Yaw Euler angle of B w.r.t I
% X(10,1) = wx; X-angular velocity of B frame w.r.t. I, expressed in B
% X(11,1) = wy; Y-angular velocity of B frame w.r.t. I, expressed in B
% X(12,1) = wz; Z-angular velocity of B frame w.r.t. I, expressed in B
% x = xi(1,1);
% y = xi(2,1);
% z = xi(3,1);
% u = xi(4,1);
% v = xi(5,1);
% w = xi(6,1);
% phi = xi(7,1);
% theta = xi(8,1);
% psi = xi(9,1);
% p = xi(10,1);
% q = xi(11,1);
% r = xi(12,1);
%%
persistent Omegad_dot;
persistent Omegad;
persistent t_since_last_call;
persistent M;
persistent throttle;
persistent Fuerzas;
if (isempty(t_since_last_call)||(t_since_last_call<0.00000001));
t_since_last_call = 100;
end
if isempty(Omegad)
throttle=0;
Omegad = [0 0 0]';
end
if isempty(Omegad_dot)
Omegad_dot = [0 0 0]';
end
persistent t_old;
persistent t_now;
%% Leemos parámetros
% Gravity
g = Atmosphere.g;
% Reading Quadrotor properties
m = Quadrotor.Mass_prop.Mass; % kg
Ixx = Quadrotor.Mass_prop.Ixx; % kg.m^2
Iyy = Quadrotor.Mass_prop.Iyy; % kg.m^2
Izz = Quadrotor.Mass_prop.Izz; % kg.m^2
Ixy = Quadrotor.Mass_prop.Ixy; % kg.m^2
Ixz = Quadrotor.Mass_prop.Ixz; % kg.m^2
Iyz = Quadrotor.Mass_prop.Iyz; % kg.m^2
Index_roll = Quadrotor.Index_roll;
Index_pitch = Quadrotor.Index_pitch;
Index_yaw = Quadrotor.Index_yaw;
% Control parameters
deltaR=CtrlParam.deltaR;
global t_step;
deltaT = t_step;
t_old=t_now;
t_now=CtrlParam.t_now;
deltaT=(t_now - t_old)+0.000001;
% deltaT=0.01;
%% Control Policy
switch Control_Mode
case 'Hover PID'
% Calculate PID coefficients
kp_z = wn_z^2; kd_z = 2*zeta_z*wn_z;
kp_phi = wn_phi^2; kd_phi = 2*zeta_phi*wn_phi;
kp_theta = wn_theta^2; kd_theta = 2*zeta_theta*wn_theta;
kp_psi = wn_psi^2; kd_psi = 2*zeta_psi*wn_psi;
% Verical control
z_des = CtrlParam.z_des;
TotalThrust = m*g + m*kd_z*w + m*kp_z*(z - z_des);
% Roll control
Mx = -Ixx*kd_phi*p - Ixx*kp_phi*phi;
% Pitch control
theta_des=CtrlParam.theta_des;
My = -Iyy*kd_theta*q - Iyy*kp_theta*(theta-theta_des);
% Yaw control
psi_des = CtrlParam.psi_des;
Mz = -Izz*kd_psi*r - Izz*kp_psi*(psi - psi_des);
% Thrust desired for each propeller
Thrust = TotalThrust*ones(1,4)/4 + Mx.*Index_roll + My.*Index_pitch + Mz.*Index_yaw/Quadrotor.k_tm;
% Control input for each propeller (convert thrust desired to
% control input) This has a modelling error, becuase it doesn't
% take into account the changes in thrust due to relative velocity (see Quadrotor_Aerodynamics)
Control = Thrust*Quadrotor.vh/Quadrotor.k_th;
Control = min(Control,1); Control = max(Control, 0);
case 'Constant Input'
Control = ones(1,4)*CtrlParam.ConstantControl;
case 'control [2]'
%angle2cm default = 'ZYX'
% psi = yaw
% theta = pitch
% phi = roll
%Rd = actitud de referencia
J = Quadrotor.Mass_prop.I;
psi_des = CtrlParam.psi_des;
theta_des = CtrlParam.theta_des;
phi_des = CtrlParam.phi_des;
Rd = angle2dcm(psi_des, theta_des, phi_des)';
%Forma muy cabeza de calcular Rd_dot
psi_des_dot = CtrlParam.psi_des_dot;
theta_des_dot = CtrlParam.theta_des_dot;
phi_des_dot = CtrlParam.phi_des_dot;
% if isempty(deltaT)
% Rd_dot=zeros(3);
% else
deltaT2=0.00005;
Rd_F=angle2dcm(...
psi_des+psi_des_dot*deltaT2,...
theta_des+theta_des_dot*deltaT2,...
phi_des+phi_des_dot*deltaT2)';
Rd_dot = (Rd_F - Rd)*1/deltaT2;
% end
% Leemos las ganancias
k_R = CtrlParam.k_R;
k_Omega = CtrlParam.k_Omega;
c2 = CtrlParam.c2;
% R = angle2dcm(psi, theta, phi)';
% e_R
e_R_hat = 1/2*(Rd'*R - R'*Rd);
e_R = [e_R_hat(3,2) e_R_hat(1,3) e_R_hat(2,1)]';
%Omega = [p q r]';
Omega_hat = [ 0 -Omega(3) Omega(2);
Omega(3) 0 -Omega(1);
-Omega(2) Omega(1) 0];
Omegad_hat = Rd'*Rd_dot;
Omegad_old = Omegad;
Omegad = [-Omegad_hat(2,3) Omegad_hat(1,3) -Omegad_hat(1,2)]';
if isempty(deltaT)
%wtf?
deltaT;
Omegad_dot=[0 0 0]';
else
Omegad_dot = (Omegad - Omegad_old)/deltaT/2;
end
% e_Omega
e_Omega = Omega - R'*Rd*Omegad;
if t_since_last_call>CtrlParam.ControllerSampleTime
k_max = CtrlParam.kappa_max;
X_max = CtrlParam.chi_max;
k_Om = k_Omega;
Om_max = CtrlParam.Omega_MAX;
Om_d_max = CtrlParam.Omegad_MAX;
dOm_d_max = CtrlParam.Omegad_dot_MAX;
lam_m = min([Ixx Iyy Izz]);
lam_M = max([Ixx Iyy Izz]);
deltaE = 2*sin(k_max/2)*...
(k_R+k_Om*Om_d_max+lam_M*(Om_max*Om_d_max+dOm_d_max))+...
(lam_M*(Om_max+Om_d_max)+k_Om)*k_max;
a=2*sin(k_max/2)*(Om_d_max+c2/lam_m)*X_max;
alfa_d = (-Omega_hat*R'*Rd*Omegad + R'*Rd*Omegad_dot);
e_A = e_Omega+c2*J^(-1)*e_R;
mu = -(deltaE+deltaR)*e_A./((norm(e_A)+a));
M = -k_R*e_R...
-k_Omega*e_Omega...
+Omega_hat*J*Omega...
+J*alfa_d...
+mu;
% t_since_last_call
t_since_last_call = 0;
%el control de posicion mas cabeza de la historia...
cos_eje_z=abs([0 0 1]*Rd(:,3));
f = m*g/max([cos_eje_z 0.1])*0.95;%(0.8*(x(3)+4)+0.4*v(3));
f_max=40;
f = f.*(f>0).*(f<f_max)+f_max.*(f>=f_max);
% Bien cabeza...
throttle=CtrlParam.throttle+f;
L=Quadrotor.width/2;
b=Quadrotor.k_tm;
Fuerza_a_Torque_y_f= [ 0 -L 0 L;
-L 0 L 0;
b -b b -b;
1/4 1/4 1/4 1/4];
TorquesAFuerza = Fuerza_a_Torque_y_f^-1;%\eye(4);
Fuerzas = TorquesAFuerza*[M' throttle]';
end
Control = Fuerzas;
case 'Su controlador preferido aquí'
end
errores=[asind(norm(e_R)) norm(e_Omega)*180/pi];
t_since_last_call = t_since_last_call + deltaT;