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farid
thesis
Commits
245e7f58
Commit
245e7f58
authored
Sep 27, 2016
by
Farid Alijani
Browse files
Trajectoiry nice
parent
60265e17
Changes
1
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Files_4_thesis/Different_controllers/docking_with_PID_controller.m
View file @
245e7f58
...
...
@@ -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
(
'${P_y = 0.
31
, I_y = 0.000
65
, D_y = 0.0
7
1}$'
,
'${P_y = 0.
38
, I_y = 0.000
1
, D_y = 0.0
2
}$'
,
'${P_y = 0.3
8
, I_y = 0, D_y = 0.02}$'
,
'${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$'
);
l2
=
legend
(
'${P_y = 0.
28
, I_y = 0.000
1
, D_y = 0.01}$'
,
'${P_y = 0.
29
, I_y = 0.000
26
, D_y = 0.0
15
}$'
,
'${P_y = 0.3, I_y = 0
.0004
, D_y = 0.02}$'
,
'${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$'
);
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
(
'${P_y = 0.
31
, I_y = 0.000
65
, D_y = 0.0
7
1}$'
,
'${P_y = 0.
38
, I_y = 0.000
1
, D_y = 0.0
2
}$'
,
'${P_y = 0.3
8
, I_y = 0, D_y = 0.02}$'
,
'${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$'
);
l2
=
legend
(
'${P_y = 0.
28
, I_y = 0.000
1
, D_y = 0.01}$'
,
'${P_y = 0.
29
, I_y = 0.000
26
, D_y = 0.0
15
}$'
,
'${P_y = 0.3, I_y = 0
.0004
, D_y = 0.02}$'
,
'${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$'
);
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
(
'${P_y = 0.
31
, I_y = 0.000
65
, D_y = 0.0
7
1}$'
,
'${P_y = 0.
38
, I_y = 0.000
1
, D_y = 0.0
2
}$'
,
'${P_y = 0.3
8
, I_y = 0, D_y = 0.02}$'
,
'${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$'
);
l
=
legend
(
'${P_y = 0.
28
, I_y = 0.000
1
, D_y = 0.01}$'
,
'${P_y = 0.
29
, I_y = 0.000
26
, D_y = 0.0
15
}$'
,
'${P_y = 0.3, I_y = 0
.0004
, D_y = 0.02}$'
,
'${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$'
);
set
(
l
,
'interpreter'
,
'latex'
,
'FontSize'
,
11
);
% legend('boxoff');
...
...
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