Trajectoiry nice

Files_4_thesis/Different_controllers/docking_with_PID_controller.m

@@ -232,8 +232,8 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
 %data 4:
 % when using marker pose ,,,,
 Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,7);
+Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
+Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
 
 
 % Extracting reference values when the robot is manually docked!
@@ -320,7 +320,7 @@ plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
 title('Pose estimation in marker coordinate system');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-l2 = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
@@ -333,7 +333,7 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
 % hold on
 % plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-axis([0 80 -.1 .67])
+% axis([0 80 -.1 .67])
 subplot(3,1,3);
 plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
 hold on
@@ -363,7 +363,7 @@ title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 axis([0 45 -.01 .2]);
 
-l2 = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
@@ -482,7 +482,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
 title('Target area');
 % axis([0.0065 .0095 .1995 .2055]);
 
-l = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
 set(l,'interpreter','latex','FontSize',11);
 % legend('boxoff');