Lyapunov Nonlinear Control GUI

版本 1.20.0.0 (59.6 KB) 作者: Andy Zelenak
This GUI can simulate and regulate a nonlinear dynamic system.
5.0
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2.4K 次下载
更新时间 2016/8/9
在 GitHub 上查看许可证

To run the program, navigate to the root folder in MATLAB and type 'launch' at the command line. The default simulation controls seven motors with different inertia, friction, and back-emf parameters.
It's a powerful control algorithm for linear and nonlinear systems where a model is known. For best performance, run it with a small timestep and a very negative controller aggressiveness.

Background: Zelenak & Pryor, 2015, "Stabilization of Nonlinear Systems by Switched Lyapunov Function"

引用格式

Andy Zelenak (2024). Lyapunov Nonlinear Control GUI (https://github.com/AndyZe/Lyapunov-Nonlinear-Control), GitHub. 检索时间: .

MATLAB 版本兼容性
创建方式 R2014b
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main

model_dynamic_equations

model_dynamic_equations/first_order_single_input

model_dynamic_equations/second_order_single_input

model_dynamic_equations/second_order_two_inputs

model_dynamic_equations/seventh_order_seven_inputs

model_dynamic_equations/third_order_multiple_inputs

model_dynamic_equations/third_order_single_input

plant_dynamic_equations

plant_dynamic_equations/first_order_single_input

plant_dynamic_equations/second_order_single_input

plant_dynamic_equations/second_order_two_inputs

plant_dynamic_equations/seventh_order_seven_inputs

plant_dynamic_equations/third_order_multiple_inputs

plant_dynamic_equations/third_order_single_input

无法下载基于 GitHub 默认分支的版本

版本 已发布 发行说明
1.20.0.0

Adding reference.
Optional low-pass filter on the control effort.
1.19.0.0

Deleted the adaptation option (never finished it) and changed the V2 calculation. Performance is better now.
Changed the unit on aggressiveness to dB.
1.18.0.0

Added two tuning parameters that help with difficult systems such as integrators. Also eliminated vectorizing for the dynamic equations because it was confusing for new users (albeit faster).
Went back to vectorized equations because the slightly-easier-to-use format wasn't worth the performance loss. Also, a more impressive example.
1.17.0.0

Updating description- File Exchange overwrote it when I switched to GitHub.
1.16.0.0

Changed hosting to GitHub so others can contribute.
1.15.0.0

Added a reference to the ROS implementation.
1.14.0.0

Updated GUI dialog boxes and allowed a more flexible array of saturation limits.
1.13.0.0

Fixed an initial condition error that was revealed by the previous update and added a more impressive default example.
1.12.0.0

Updated the picture
1.11.0.0

Added another plot that is useful for visualizing higher-order problems (up to 7th order).
1.10.0.0

Simplified the code to improve processing time by ~5%. Working on the C++ version for ROS now.
1.9.0.0

Removed dependency on the image processing toolbox and updated to R2014b.
1.8.0.0

Fixed plotting bug for 1st order systems.
1.7.0.0

Minor changes to plotting and a more impressive example.
1.6.0.0

Fixed an error where it was basically plotting the results I expected. Derp. Sorry if that confused anybody.
1.5.0.0

The controller can now track a user-defined, time-varying function. The default example tracks a unit circle with a 2nd-order system.
1.4.0.0

Big change this week! The user can specify any setpoint and the software will regulate the system to that setpoint.
1.3.0.0

Changed to a different Alternative Lyapunov Function and fixed a vector dimension mismatch for >1 inputs.
1.2.0.0

Removed some directories from the search path because they will be automatically added by my code.
1.1.0.0

Updated the description to include launch directions.
1.0.0.0

要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。
要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。