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无人机.zip

所属分类：matlab编程
开发工具：matlab
文件大小：5549KB
下载次数：5
上传日期：2020-04-14 11:05:33
上传者：吴阿斗

说明： VirtualArena是用于控制设计和系统仿真的面向对象的Matlab集成开发环境，其实现目标如下: 1)避免重新实现大多数项目共有的功能，例如: -离散化策略(例如欧拉向前，龙格库塔，…) -系统线性化的雅可比计算方法，例如基于符号或样本的方法 -实施标准车辆动力学，如独轮车或类似无人机的车辆，并实施不同的姿态表示，如旋转矩阵或四元数 -状态观测器自动生成，例如扩展卡尔曼滤波器(EKF) -基于网络的控制器的实施结构 - … 2)建立一套通用接口，允许独立设计和集成不同的组件(例如，车辆模型、控制器、传感器、观察器、...)并实施可重用/透明/易于调试的编程风格。
(Virtualarena is an object-oriented matlab integrated development environment for control design and system simulation. Its implementation objectives are as follows: 1) Avoid re implementing features common to most projects, such as: -Discretization strategies (e.g. Euler forward, longkutta,...) ) -Jacobian calculation methods for system linearization, such as symbol based or sample based methods -Implement standard vehicle dynamics, such as wheelbarrow or similar UAV vehicles, and implement different attitude representations, such as rotation matrix or quaternion -Automatic generation of state observers, such as extended Kalman filter (EKF) -Implementation structure of network-based controller -... 2) Establish a common set of interfaces that allow independent design and integration of different components (e.g., vehicle models, controllers, sensors, viewers,...) and implement a reusable / transparent / easy to debug programming style.)

文件列表:

andreaalessandretti-VirtualArena-698aa7d (0, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\.DS_Store (10244, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena (0, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\VirtualArena.m (34512, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\loadInitialConditions.m (4334, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\manageObserver.m (2026, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\plotSignalPredictionAndEstimate.m (1103, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\recursiveRun.m (2396, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\senseNetworkToAgent.m (1119, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\@VirtualArena\setOptions.m (5618, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers (0, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\Controller.m (2921, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\ControllerAdapter.m (3146, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\GoToWayPoints.m (7219, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\IController.m (2805, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\IControllerAdapter.m (2964, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\MpcController.m (8323, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\ReplayController.m (2819, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\TrackingControllerECC13.m (8876, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\TrackingController_ECC13.m (1182, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\TrackingController_IFAC17.m (4581, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\UniGoToPoint.m (886, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Controllers\UniGoToPointPid.m (5800, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\DisplaySelector (0, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\DisplaySelector\DisplayNothing.m (2133, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\DisplaySelector\DisplaySelector.m (2275, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\DisplaySelector\DisplayVerbose.m (2132, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\IMultiRun.m (424, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\InitDeinitObject.m (4471, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Integrators (0, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Integrators\EulerForward.m (2048, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Integrators\Integrator.m (2056, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Integrators\MatlabSolver.m (2875, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Integrators\RK4.m (2134, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Log (0, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Log\ControllerStateLog.m (2319, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Log\ExpectedMeasuramentLog.m (2263, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Log\ILog.m (2653, 2018-11-27)
andreaalessandretti-VirtualArena-698aa7d\Log\InputLog.m (2280, 2018-11-27)
... ...

VirtualArena is an Object-Oriented Matlab Toolkit for Control Design and System Simulation. ## Getting Started To install the tollkit, open Matlab on the folder where you want to create the VirtualArena folder and run the following code ```matlab urlwrite('https://github.com/andreaalessandretti/VirtualArena/archive/master.zip','master.zip'); unzip('master.zip'); movefile('VirtualArena-master','VirtualArena'); cd VirtualArena/; addPathsOfVirtualarena; ``` The folder `VirtualArena/exampels` presents a list of examples that are described in the paper >[Alessandretti, A., Aguiar, A. P., & Jones, C. N. (2017). VirtualArena : An Object-Oriented MATLAB Toolkit for Control System Design and Simulation. In Proc. of the 2017 International Conference on Unmanned Aircraft Systems (ICUAS). Miami, USA.](./docs/ICUAS17_VirtualArena.pdf) and in the slides [here](./docs/ICUAS17_slides.pdf). The following BibTeX entry can be used to cite the toolkit: ``` @inproceedings{Alessandretti2017, address = {Miami, USA}, author = {Alessandretti, A. and Aguiar, A. P. and Jones, C. N.}, booktitle = {Proc. of the 2017 International Conference on Unmanned Aircraft Systems (ICUAS)}, title = {{VirtualArena : An Object-Oriented MATLAB Toolkit for Control System Design and Simulation}}, year = {2017} } ```

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