Difference between revisions of "MATLAB code"
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| + | =Commonly Used Variables= | ||
| + | *state: state is an vector with 8 state variables, in order they are, time step, X position, Y position, Lean Angle, Yaw Angle, Steer Angle, Lean Angle Rate, Velocity | ||
| + | *motCommands - this is the same as <math>\vec{u}</math> in the control equation, for forward moving balancing, it is steer angle rate <math>[\dot{\delta}]</math> | ||
== MATLAB files == | == MATLAB files == | ||
=== animateBike.m === | === animateBike.m === | ||
Revision as of 00:16, 16 May 2020
Contents
Commonly Used Variables
- state: state is an vector with 8 state variables, in order they are, time step, X position, Y position, Lean Angle, Yaw Angle, Steer Angle, Lean Angle Rate, Velocity
- motCommands - this is the same as in the control equation, for forward moving balancing, it is steer angle rate
![{\displaystyle [{\dot {\delta }}]}](https://wikimedia.org/api/rest_v1/media/math/render/svg/31b15d35307788dd9ebf95634860a37c0fe7b192)
MATLAB files
animateBike.m
Inputs:
- state
- p
- motCommands
- delta_offset
- phi_offset
balanceControlOptimizer.m
BikeAndMotorConstants.m
CircleAboutZ.m
Inputs:
- r - radius of the circle
drawBike.m
Inputs:
- x
- y
- z
- yaw
- roll
- steer
- p
lqr_BC_optimizer.m
plotMultipleControllersTogether.m
rhs.m
- currentState
- p
- K
- delta_offset
- phi_offset
runBicycleTest.m
Inputs:
- x0,y0 - intial location
- v0 - initial speed
- delta0 - intial steer angle
- phi0 - intial lean angle
- phi_dot0 - intial derivative of lean angle
- psi0 - intial yaw angle (heading)
- K - vector of gains (k1, k2, k3)
- delta_offset - either a scalar (a constant offset), or a vector of offsets (the bike will attempt to hit delta_offset(n) at the nth timestep
- numTimeSteps - the number of time steps to run the simulation for
- graph - 1= draws graph, 0 =does not
