# -*- coding: utf-8 -*- """ Created on Fri Nov 16 12:05:08 2018 @author: Alexandre """ ############################################################################### import numpy as np ############################################################################### from pyro.dynamic import pendulum from pyro.control import nonlinear ############################################################################### sys = pendulum.SinglePendulum() #ctl = nonlinear.ComputedTorqueController( sys ) ctl = nonlinear.SlidingModeController(sys) ctl.gain = 5 # Set Point q_target = np.array([3.14]) ctl.rbar = q_target # New cl-dynamic cl_sys = ctl + sys # Simultation x_start = np.array([-2, 0]) cl_sys.plot_trajectory(x_start, 10, 1001, 'euler') cl_sys.sim.phase_plane_trajectory_closed_loop(0, 1) cl_sys.sim.phase_plane_trajectory(0, 1)
# PID kp = 5 kd = 2 ki = 1 pid_ctl = robotcontrollers.JointPID(1, kp, ki, kd) pid_ctl.rbar = q_goal # Computed Torque ctc_ctl = nonlinear.ComputedTorqueController(sys) ctc_ctl.rbar = q_goal ctc_ctl.w0 = 2.0 ctc_ctl.zeta = 0.8 # Sliding Mode sld_ctl = nonlinear.SlidingModeController(sys) sld_ctl.lam = 1 sld_ctl.gain = 5 sld_ctl.rbar = q_goal # OpenLoop with traj traj_ctl = plan.OpenLoopController(traj) # Computed Torque with traj traj_ctc_ctl = nonlinear.ComputedTorqueController(sys, traj) traj_ctc_ctl.rbar = q_goal traj_ctc_ctl.w0 = 2.0 traj_ctc_ctl.zeta = 0.8 # Sliding Mode with traj traj_sld_ctl = nonlinear.SlidingModeController(sys, traj)
