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farid
thesis
Commits
5dd426d5
Commit
5dd426d5
authored
Dec 19, 2016
by
Farid Alijani
Browse files
Paper modified for print
parent
16c50dd4
Changes
8
Expand all
Hide whitespace changes
Inline
Side-by-side
Files_4_thesis/Different_angle/docking_different_angle.m
View file @
5dd426d5
...
...
@@ -155,8 +155,8 @@ hold on
plot
(
t_P_sec_data_2
,
Pose_X_data_2
,
'r'
,
'LineWidth'
,
1.7
);
% hold on
% plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
ylabel
(
'${x_{mar}}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'a) ${x_{mar}}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
%
title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot
(
323
);
...
...
@@ -165,8 +165,8 @@ hold on
plot
(
t_P_sec_data_2
,
Pose_Y_data_2
,
'r'
,
'LineWidth'
,
1.7
);
% hold on
% plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
ylabel
(
'${y_{mar}}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'b) ${y_{mar}}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
%
title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot
(
325
);
...
...
@@ -176,9 +176,9 @@ plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
% hold on
% plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
title
(
'c) ${\theta_{mar}}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'${\theta_{mar}}$ [rad]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
xlabel
(
'$ time$ [s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
%
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
%
xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
% % control signals
...
...
@@ -192,9 +192,9 @@ hold on
plot
(
t_V_sec_data_2
,
Vel_X_data_2
,
'r'
,
'LineWidth'
,
1.7
);
% hold on
% plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
title
(
'd) $\dot{x}_{Rob}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'$\dot{x}_{Rob}$ [m/s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
%
title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
%
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
l2
=
legend
(
'${Left}$'
,
'${Right}$'
);
set
(
l2
,
'interpreter'
,
'latex'
,
'FontSize'
,
14
);
...
...
@@ -208,8 +208,8 @@ hold on
plot
(
t_V_sec_data_2
,
Vel_Y_data_2
,
'r'
,
'LineWidth'
,
1.7
);
% hold on
% plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.6);
ylabel
(
'$\dot{y}_{Rob}$ [m/s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'e) $\dot{y}_{Rob}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
%
title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot
(
326
);
...
...
@@ -218,9 +218,9 @@ hold on
plot
(
t_V_sec_data_2
,
Omega_Z_data_2
,
'r'
,
'LineWidth'
,
1.7
);
% hold on
% plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
xlabel
(
'$ time$ [s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'$\dot{\theta}_{Rob}$ [rad/s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'f) $\dot{\theta}_{Rob}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
%
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
%
title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
% Trajectory
...
...
@@ -247,8 +247,8 @@ hold on
plot
(
y_circle
,
x_circle
,
'k--'
,
'LineWidth'
,
3.4
);
% axis([-.4 .4 .18 1.4]);
title
(
'${a) Approach + SM + Target}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'${x}_{mar}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
%
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% set(gca,'fontsize',20);
subplot
(
132
);
...
...
@@ -260,8 +260,8 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
hold
on
plot
(
y_circle
,
x_circle
,
'k--'
,
'LineWidth'
,
3.4
);
title
(
'$ {b) SM + Target}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
xlabel
(
'${y}_{mar}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
%
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
axis
([
-.
03
0.03
-.
29
-.
191
]);
% set(gca,'fontsize',20);
...
...
@@ -274,7 +274,7 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold
on
plot
(
y_circle
,
x_circle
,
'k--'
,
'LineWidth'
,
3.4
);
title
(
'$ {c) Target}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('$ {c) Target}$','interpreter','latex','FontSize',20);
axis
([
-.
0202
-.
017
-.
2054
-.
199
]);
% set(gca,'fontsize',20);
...
...
Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
0 → 100644
View file @
5dd426d5
This diff is collapsed.
Click to expand it.
Files_4_thesis/Different_controllers/docking_with_PID_controller.m
View file @
5dd426d5
...
...
@@ -9,11 +9,11 @@ yaw_off = pi;
% 557 ros messages for geometry_msgs/PoseStamped
%
%
Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
%
Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_1
=
csvread
(
'POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
Vel_Matrix_data_1
=
csvread
(
'VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
Pose_Matrix_data_1
=
csvread
(
'CAM_PID_.28_.0001_.01.txt'
,
1
,
0
);
Vel_Matrix_data_1
=
csvread
(
'vel_PID_.28_.0001_.01.txt'
,
1
,
0
);
%
Pose_Matrix_data_1 = csvread('CAM_PID_.28_.0001_.01.txt',1,0);
%
Vel_Matrix_data_1 = csvread('vel_PID_.28_.0001_.01.txt',1,0);
% time in position
TimeP_ros_data_1
=
Pose_Matrix_data_1
(:,
1
);
% ros time, needs to be converted to sec...
...
...
@@ -41,12 +41,12 @@ t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
% theta-axis gains:
% P = .28; I = 0.1; D = 0.15;
% %
% Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
%
Pose_Matrix_data_2
=
csvread
(
'CAM_PID_.29_.00026_.015.txt'
,
1
,
0
);
Vel_Matrix_data_2
=
csvread
(
'vel_PID_.29_.00026_.015.txt'
,
1
,
0
);
Pose_Matrix_data_2
=
csvread
(
'POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
Vel_Matrix_data_2
=
csvread
(
'VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
% Pose_Matrix_data_2 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
% Vel_Matrix_data_2 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
% time in position
TimeP_ros_data_2
=
Pose_Matrix_data_2
(:,
1
);
% ros time, needs to be converted to sec...
...
...
@@ -74,12 +74,12 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
% theta-axis gains:
% P = .08; I = 0; D = 0;
%
% Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_3
=
csvread
(
'Trans_PID_.28_0_.006.txt'
,
1
,
0
);
Vel_Matrix_data_3
=
csvread
(
'vel_PID_.28_0_.006.txt'
,
1
,
0
);
Pose_Matrix_data_3
=
csvread
(
'POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
Vel_Matrix_data_3
=
csvread
(
'VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
% Pose_Matrix_data_3 = csvread('Trans_PID_.28_0_.006.txt',1,0);
% Vel_Matrix_data_3 = csvread('vel_PID_.28_0_.006.txt',1,0);
% time in position
TimeP_ros_data_3
=
Pose_Matrix_data_3
(:,
1
);
% ros time, needs to be converted to sec...
...
...
@@ -107,12 +107,12 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
% theta-axis gains:
% P = .08; I = 0; D = 0;
%
% Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
% Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
Pose_Matrix_data_4
=
csvread
(
'CAM_PID_.266_.0003_.014.txt'
,
1
,
0
);
Vel_Matrix_data_4
=
csvread
(
'vel_PID_.266_.0003_.014.txt'
,
1
,
0
);
Pose_Matrix_data_4
=
csvread
(
'POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
Vel_Matrix_data_4
=
csvread
(
'VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt'
,
1
,
0
);
% Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
% Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
% time in position
TimeP_ros_data_4
=
Pose_Matrix_data_4
(:,
1
);
% ros time, needs to be converted to sec...
...
...
Files_4_thesis/scanner_analysis.m
View file @
5dd426d5
...
...
@@ -167,7 +167,6 @@ for i = 1:points_DockedwithBOX
Y_obst_DockedwithBOX
(
i
)
=
dist_to_obst
*
sin
(
s_angle_DockedwithBOX
(
i
));
end
% checking accuracy in robot coordinate system
figure
;
set
(
gcf
,
'color'
,
'white'
);
...
...
@@ -197,7 +196,7 @@ orig_coordinate_cir = gca; % create axes
plot
(
orig_coordinate_cir
,
s_angle_DockedwithMar
,
s_val_DockedwithMar
,
'b'
,
'LineWidth'
,
2.7
);
hold
on
plot
(
orig_coordinate_cir
,
s_angle_DockedwithMar
,
dist_to_obst
,
'r'
,
'LineWidth'
,
2.7
);
ylabel
(
'$ {Distance} $ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
ylabel('$ {Distance} $ [m]','interpreter','latex','FontSize',20);
axis
([
-
2.3
2.3
-.
5
10
]);
% set(orig_coordinate_cir,'box','off','fontsize',20);
set
(
orig_coordinate_cir
,
'box'
,
'off'
);
...
...
@@ -224,42 +223,41 @@ set(zoomed_coordinate_cir,'ylim',[.08 .2])% axes limit for zoom out,
set
(
zoomed_coordinate_cir
,
'Units'
,
'normalized'
,
'Position'
,
[
.
35
0.48
0.15
0.18
])
% ----- Zoomed in ------
subplot
(
324
);
orig_coordinate_cir_T
=
gca
;
% create axes
plot
(
orig_coordinate_cir_T
,
X_DockedwithMar
,
Y_DockedwithMar
,
'b'
,
'LineWidth'
,
2.7
);
hold
on
;
plot
(
orig_coordinate_cir_T
,
X_obst_DockedwithMar
,
Y_obst_DockedwithMar
,
'r'
,
'LineWidth'
,
3
);
ylabel
(
'$ {Y} $ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
axis
([
-
2
4.5
-
4
1.5
]);
% set(orig_coordinate_cir_T,'box','off','fontsize',20);
set
(
orig_coordinate_cir_T
,
'box'
,
'off'
);
% ----- Zoomed in ------
hkids_cir_T
=
get
(
orig_coordinate_cir_T
,
'child'
);
% get original coordinate properties
% subplot(324);
% orig_coordinate_cir_T = gca; % create axes
% plot(orig_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
% hold on;
% plot(orig_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
% % ylabel('$ {Y} $ [m]','interpreter','latex','FontSize',20);
% axis([-2 4.5 -4 1.5]);
% % set(orig_coordinate_cir_T,'box','off','fontsize',20);
% set(orig_coordinate_cir_T,'box','off');
%
% set(hkids_cir_T(1),'marker','.','Color','r')
% set(hkids_cir_T(2),'marker','*')
set
(
hkids_cir_T
(
1
),
'Color'
,
'r'
)
set
(
hkids_cir_T
(
2
),
'Color'
,
'b'
)
zoomed_coordinate_cir_T
=
axes
(
'Position'
,
get
(
orig_coordinate_cir_T
,
'Position'
),
...
'XAxisLocation'
,
'bottom'
,
...
'YAxisLocation'
,
'left'
,
...
'fontsize'
,
10
,
...
'Color'
,
'none'
,
...
'XColor'
,
'k'
,
'YColor'
,
'k'
,
'NextPlot'
,
'add'
);
% make ax2. Use nexplot to maintain your settings
plot
(
zoomed_coordinate_cir_T
,
X_DockedwithMar
,
Y_DockedwithMar
,
'b'
,
'LineWidth'
,
2.7
);
hold
on
;
plot
(
zoomed_coordinate_cir_T
,
X_obst_DockedwithMar
,
Y_obst_DockedwithMar
,
'r'
,
'LineWidth'
,
3
);
set
(
zoomed_coordinate_cir_T
,
'xlim'
,[
.
08
.
13
])
% axes limit for zoom out,
set
(
zoomed_coordinate_cir_T
,
'ylim'
,[
-.
06
.
06
])
% axes limit for zoom out,
set
(
zoomed_coordinate_cir_T
,
'Units'
,
'normalized'
,
'Position'
,
[
.
84
0.485
0.15
0.18
])
% ----- Zoomed in ------
% % ----- Zoomed in ------
% hkids_cir_T = get(orig_coordinate_cir_T, 'child'); % get original coordinate properties
% %
% % set(hkids_cir_T(1),'marker','.','Color','r')
% % set(hkids_cir_T(2),'marker','*')
%
% set(hkids_cir_T(1),'Color','r')
% set(hkids_cir_T(2),'Color','b')
%
%
% zoomed_coordinate_cir_T = axes('Position',get(orig_coordinate_cir_T,'Position'),...
% 'XAxisLocation','bottom',...
% 'YAxisLocation','left',...
% 'fontsize',10,...
% 'Color','none',...
% 'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
%
% plot(zoomed_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
% hold on;
% plot(zoomed_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
%
% set(zoomed_coordinate_cir_T,'xlim',[.08 .13])% axes limit for zoom out,
% set(zoomed_coordinate_cir_T,'ylim',[-.06 .06])% axes limit for zoom out,
% set(zoomed_coordinate_cir_T, 'Units', 'normalized', 'Position', [.84 0.485 0.15 0.18])
% % ----- Zoomed in ------
subplot
(
325
);
...
...
@@ -267,7 +265,7 @@ orig_coordinate_box = gca; % create axes
plot
(
orig_coordinate_box
,
s_angle_DockedwithBOX
,
s_val_DockedwithBOX
,
'b'
,
'LineWidth'
,
2.7
);
hold
on
plot
(
orig_coordinate_box
,
s_angle_DockedwithBOX
,
dist_to_obst
,
'r'
,
'LineWidth'
,
3
);
xlabel
(
'$ {\theta_b} $ [rad]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
xlabel('$ {\theta_b} $ [rad]','interpreter','latex','FontSize',20);
axis
([
-
2.3
2.3
-.
15
5
]);
% set(orig_coordinate_box,'box','off','fontsize',20);
set
(
orig_coordinate_box
,
'box'
,
'off'
);
...
...
@@ -300,7 +298,7 @@ orig_coordinate_box_T = gca; % create axes
plot
(
orig_coordinate_box_T
,
X_DockedwithBOX
,
Y_DockedwithBOX
,
'b'
,
'LineWidth'
,
2.7
);
hold
on
plot
(
orig_coordinate_box_T
,
X_obst_DockedwithMar
,
Y_obst_DockedwithMar
,
'r'
,
'LineWidth'
,
3
);
xlabel
(
'$ {X} $ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
xlabel('$ {X} $ [m]','interpreter','latex','FontSize',20);
axis
([
-.
53
.
9
-.
8
1.5
]);
% set(orig_coordinate_box_T,'box','off','fontsize',20);
set
(
orig_coordinate_box_T
,
'box'
,
'off'
);
...
...
Files_4_thesis/x_tANDy_t/y_tANDx_t.m
View file @
5dd426d5
...
...
@@ -263,8 +263,9 @@ plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.7);
hold
on
plot
(
t_P_sec_data_4
,
Pose_X_data_4
,
'm'
,
'LineWidth'
,
1.6
);
% set(gca,'fontsize',20);
ylabel
(
'${x_{mar}}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'a) ${x_{mar}}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
% ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
%
% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
% set(l2,'interpreter','latex','FontSize',9);
...
...
@@ -281,8 +282,8 @@ plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.7);
hold
on
plot
(
t_P_sec_data_4
,
Pose_Y_data_4
,
'm'
,
'LineWidth'
,
1.6
);
% set(gca,'fontsize',20);
ylabel
(
'${y_{mar}}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'b) ${y_{mar}}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
%
title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
% subplot(338);
subplot
(
325
);
...
...
@@ -295,9 +296,9 @@ plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.7);
hold
on
plot
(
t_P_sec_data_4
,
Theta_data_4
,
'm'
,
'LineWidth'
,
1.6
);
% set(gca,'fontsize',20);
title
(
'c) ${\theta_{mar}}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
xlabel
(
'$ time [s]$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'${\theta_{mar}}$ [rad]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
%
xlabel('$ time [s]$','interpreter','latex','FontSize',20);
%
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
% Control Signals
...
...
@@ -317,8 +318,8 @@ plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.7);
hold
on
plot
(
t_V_sec_data_4
,
Vel_X_data_4
,
'm'
,
'LineWidth'
,
1.6
);
% set(gca,'fontsize',20);
title
(
'd) $\dot{x}_{Rob}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'$\dot{x}_{Rob}$ [m/s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
%
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
%
% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
% set(l2,'interpreter','latex','FontSize',13);
...
...
@@ -336,8 +337,8 @@ plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.7);
hold
on
plot
(
t_V_sec_data_4
,
Vel_Y_data_4
,
'm'
,
'LineWidth'
,
1.6
);
% set(gca,'fontsize',20);
ylabel
(
'$\dot{y}_{Rob}$ [m/s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
title
(
'e) $\dot{y}_{Rob}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
%
title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
% subplot(339);
subplot
(
326
);
...
...
@@ -350,9 +351,9 @@ plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.7);
hold
on
plot
(
t_V_sec_data_4
,
Omega_Z_data_4
,
'm'
,
'LineWidth'
,
1.6
);
% set(gca,'fontsize',20);
title
(
'f) $\dot{\theta}_{Rob}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
xlabel
(
'$ time [s]$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'$\dot{\theta}_{Rob}$ [rad/s]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
%
xlabel('$ time [s]$','interpreter','latex','FontSize',20);
%
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
% Trajectory
...
...
@@ -381,8 +382,8 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold
on
plot
(
y_circle
,
x_circle
,
'k--'
,
'LineWidth'
,
3.4
);
% set(gca,'fontsize',20);
title
(
'${a) Approach + SM + Target}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
ylabel
(
'${x}_{mar}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
%
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% axis([-.65 .05 -1.6 -.19]);
axis
([
-.
65
.
03
-
1.47
-.
16
]);
subplot
(
132
);
...
...
@@ -396,8 +397,8 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold
on
plot
(
y_circle
,
x_circle
,
'k--'
,
'LineWidth'
,
3.4
);
% set(gca,'fontsize',20);
title
(
'$ {b) SM + Target}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
xlabel
(
'${y}_{mar}$ [m]'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
%
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
axis
([
-.
025
0.005
-.
29
-.
19
]);
% axis([-.033 -.01 -.26 -.195]);
subplot
(
133
);
...
...
@@ -411,7 +412,7 @@ plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold
on
plot
(
y_circle
,
x_circle
,
'k--'
,
'LineWidth'
,
3.4
);
% set(gca,'fontsize',20);
title
(
'$ {c) Target}$'
,
'interpreter'
,
'latex'
,
'FontSize'
,
20
);
%
title('$ {c) Target}$','interpreter','latex','FontSize',20);
% axis([-.0205 -.0168 -.2054 -.199]);
axis
([
-.
0201
-.
017
-.
206
-.
1995
]);
l
=
legend
(
'${P_y = .266, I_y = .0003, D_y = .014}$'
,
'${P_y = .28, I_y = 0, D_y = .006}$'
,
'${P_y = .29, I_y = .00026, D_y = .015}$'
,
'${P_y = .3, I_y = .0004, D_y = .02}$'
,
'${Target}$'
);
...
...
Paper/IREIT/Paper_IREIT.docx
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Paper/IREIT/Paper_IREIT.pdf
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