def __init__(self):
super().__init__(**vars(cfg.env_kwargs))
wingrock.load_config()
self.x = wingrock.System()
self.x.unc = lambda t, x: 0
self.A = wingrock.cfg.Am
self.B = wingrock.cfg.B
self.Kopt, self.Popt = LQR.clqr(self.A, self.B, cfg.Q, cfg.R)
self.behave_K, _ = LQR.clqr(self.A - 3, self.B, cfg.Qb, cfg.Rb)
self.logger = fym.logging.Logger(Path(cfg.dir, "env.h5"))
self.logger.set_info(cfg=cfg)
def exp1():
basedir = Path("data/exp1")
cfg = wingrock.cfg
wingrock.load_config()
cfg.dir = Path(basedir, "data00")
cfg.label = "MRAC"
run_simple(wingrock.MRACEnv())
wingrock.load_config()
cfg.dir = Path(basedir, "data01")
cfg.label = "HMRAC"
run_simple(wingrock.HMRACEnv())
def exp3():
basedir = Path("data/exp3")
cfg = wingrock.cfg
# wingrock.load_config()
# cfg.dir = Path(basedir, "data00")
# cfg.label = "MRAC"
# run_simple(wingrock.MRACEnv())
wingrock.load_config()
cfg.dir = Path(basedir, "data01")
cfg.label = "Value Learner"
cfg.R = np.zeros((1, 1))
run_with_agent(wingrock.ValueLearnerEnv(), wingrock.ValueLearnerAgent())
wingrock.load_config()
cfg.dir = Path(basedir, "data01")
cfg.label = "Value Learner"
cfg.R = np.zeros((1, 1))
run_with_agent(wingrock.ValueLearnerEnv(), wingrock.ValueLearnerAgent())
def exp3_plot():
def get_data(datadir):
data = SN()
env, info = fym.logging.load(list(datadir.glob("*env.h5"))[0],
with_info=True)
data.env = env
data.info = info
agentlist = list(datadir.glob("*agent.h5"))
if agentlist != []:
data.agent = fym.logging.load(agentlist[0])
data.style = dict(label=info["cfg"].label)
return data
plt.rc("font", family="Times New Roman")
plt.rc("text", usetex=True)
plt.rc("lines", linewidth=1)
plt.rc("axes", grid=True)
plt.rc("grid", linestyle="--", alpha=0.8)
datadir = Path("data", "exp3")
mrac = get_data(Path(datadir, "data00"))
vlmrac = get_data(Path(datadir, "data01"))
data = [mrac, vlmrac]
basestyle = dict(c="k", lw=0.7)
cmdstyle = dict(basestyle, c="r", ls="--", label="Command")
mrac.style.update(basestyle, c="g", ls="-")
vlmrac.style.update(basestyle, c="b", ls="-")
# Figure common setup
cfg = wingrock.cfg
wingrock.load_config()
t_range = (0, cfg.final_time)
# All in inches
subsize = (4.05, 0.946)
width = 4.94
top = 0.2
bottom = 0.671765
left = 0.5487688
hspace = 0.2716
# =================
# States and inputs
# =================
figsize, pos = plot.posing(3, subsize, width, top, bottom, left, hspace)
plt.figure(figsize=figsize)
ax = plt.subplot(311, position=pos[0])
lines = []
lines += plt.plot(mrac.env["t"], mrac.env["c"][:, 0], **cmdstyle)
lines += [plot.states_and_input(d, "x", 0)[0] for d in data]
plt.ylabel(r"$x_1$")
plt.ylim(-2, 2)
plt.figlegend(
lines,
[line.get_label() for line in lines],
bbox_to_anchor=(0.99, 0.78)
)
plt.subplot(312, sharex=ax, position=pos[1])
[plot.states_and_input(d, "x", 1) for d in data]
plt.ylabel(r"$x_2$")
plt.ylim(-2, 2)
plt.subplot(313, sharex=ax, position=pos[2])
[plot.states_and_input(d, "u", 0) for d in data]
plt.ylabel(r'$u$')
plt.ylim(-80, 80)
plt.xlabel("Time, sec")
plt.xlim(t_range)
for ax in plt.gcf().get_axes():
ax.label_outer()
# ====================
# Parameter estimation
# ====================
figsize, pos = plot.posing(2, subsize, width, top, bottom, left, hspace)
plt.figure(figsize=figsize)
ax = plot.subplot(pos, 0)
plot.all(mrac, "Wcirc", style=cmdstyle)
plot.all(mrac, "W", style=dict(mrac.style, c="k"))
plt.ylim(-70, 30)
plot.subplot(pos, 1, sharex=ax)
plot.all(mrac, "Wcirc", style=cmdstyle)
plot.all(vlmrac, "W", style=dict(mrac.style, c="k"))
plot.all(vlmrac, "F", style=dict(mrac.style, c="b"))
plot.all(vlmrac, "What", is_agent=True, style=dict(mrac.style, c="g"))
plt.ylim(-70, 30)
plt.xlabel("Time, sec")
plt.xlim(t_range)
plt.show()