Matlab code used for simulation and analysis in the 2016 ACC paper
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
utilities
.gitignore
DataAnalysis.m
LICENSE.txt
README.md
controller.m
coupled_control_driver.m
draw_cad.m
dynamics.m
error_function_visualization.m
load_constants.m
load_experiment_constants.m
log_barrier.m
plot_experiment_outputs.m
plot_outputs.m
setup_repo.sh
stability.m
stability_simplification.m
tracking_command.m

README.md

Matlab code for ACC paper

To regenerate the figures for publications

Configuration Error Function visualization:

run log_barrier.m to make the surface plots for the \Psi

Go to commit 21e53de0fb288911a5dd5306fddb1f8a9d6d5a8d to make sure the constants are setup properly

Attitude Stabilization without adaptive update law:

run coupled_control_driver.m and then run plot_outputs.m to generate the simulation plots used in both ACC/IJCAS submission

This is using commit 3c428392a28a19de57c34fbe98816d4e6024d7ff

Attitude Stabilization with adaptive update law:

run coupled_control_driver.m and then run plot_outputs.m or draw_cad to generate the plots. There's a flag in load_constants to create animations or a video

Go to commit c44b078d2ad42443ac2875aa09a726a987e7af12 to ensure the constants are setup properly

Time varying disturbance simulation

Go to commit 488f15b0ffab397877bb8aead46719811f5ea73b and run coupled_control_driver.m

This will generate a bunch of plots for the time varying disturbance case.

Constrained Attitude stabilization experiment:

Run Data_analysis.m to read 20150924_avoid3.txt to generate the experimental results

The repository holding the experimental data is located at https://github.com/skulumani/2016_ACC_Experiment

The commit is 2d4f9be86874f43b4166476fe01f73c216423682

This calls load_experiment_constants and plot_experiment_constants