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Commit8f3615b

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add param processing to create_statefbk_iosystem
1 parent34d5d03 commit8f3615b

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3 files changed

+73
-19
lines changed

3 files changed

+73
-19
lines changed

‎control/statefbk.py

Lines changed: 12 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -586,7 +586,8 @@ def create_statefbk_iosystem(
586586
controller_type=None,xd_labels=None,ud_labels=None,ref_labels=None,
587587
feedfwd_pattern='trajgen',gainsched_indices=None,
588588
gainsched_method='linear',control_indices=None,state_indices=None,
589-
name=None,inputs=None,outputs=None,states=None,**kwargs):
589+
name=None,inputs=None,outputs=None,states=None,params=None,
590+
**kwargs):
590591
r"""Create an I/O system using a (full) state feedback controller.
591592
592593
This function creates an input/output system that implements a
@@ -751,6 +752,10 @@ def create_statefbk_iosystem(
751752
System name. If unspecified, a generic name <sys[id]> is generated
752753
with a unique integer id.
753754
755+
params : dict, optional
756+
System parameter values. By default, these will be copied from
757+
`sys` and `ctrl`, but can be overriden with this keyword.
758+
754759
Examples
755760
--------
756761
>>> import control as ct
@@ -773,7 +778,8 @@ def create_statefbk_iosystem(
773778
ifnotisinstance(sys,NonlinearIOSystem):
774779
raiseControlArgument("Input system must be I/O system")
775780

776-
# Process (legacy) keywords
781+
# Process keywords
782+
params=sys.paramsifparamsisNoneelseparams
777783
controller_type=_process_legacy_keyword(
778784
kwargs,'type','controller_type',controller_type)
779785
ifkwargs:
@@ -970,10 +976,10 @@ def _control_output(t, states, inputs, params):
970976

971977
returnu
972978

973-
params= {}ifgainschedelse {'K':K}
979+
ctrl_params= {}ifgainschedelse {'K':K}
974980
ctrl=NonlinearIOSystem(
975981
_control_update,_control_output,name=name,inputs=inputs,
976-
outputs=outputs,states=states,params=params)
982+
outputs=outputs,states=states,params=ctrl_params)
977983

978984
elifcontroller_type=='iosystem'andfeedfwd_pattern=='trajgen':
979985
# Use the passed system to compute feedback compensation
@@ -1061,7 +1067,8 @@ def _control_output(t, states, inputs, params):
10611067
[sys,ctrl]ifestimator==syselse [sys,ctrl,estimator],
10621068
name=sys.name+"_"+ctrl.name,add_unused=True,
10631069
inplist=inplist,inputs=input_labels,
1064-
outlist=outlist,outputs=output_labels
1070+
outlist=outlist,outputs=output_labels,
1071+
params=ctrl.params|params
10651072
)
10661073
returnctrl,closed
10671074

‎control/tests/statefbk_test.py

Lines changed: 41 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -930,9 +930,10 @@ def unicycle_update(t, x, u, params):
930930

931931
returnct.NonlinearIOSystem(
932932
unicycle_update,None,
933-
inputs= ['v','phi'],
934-
outputs= ['x','y','theta'],
935-
states= ['x_','y_','theta_'])
933+
inputs=['v','phi'],
934+
outputs=['x','y','theta'],
935+
states=['x_','y_','theta_'],
936+
params={'a':1})# only used for testing params
936937

937938
frommathimportpi
938939

@@ -1194,3 +1195,40 @@ def test_create_statefbk_errors():
11941195

11951196
withpytest.raises(ControlArgument,match="feedfwd_pattern != 'refgain'"):
11961197
ct.create_statefbk_iosystem(sys,K,Kf,feedfwd_pattern='trajgen')
1198+
1199+
1200+
deftest_create_statefbk_params(unicycle):
1201+
# Speeds and angles at which to compute the gains
1202+
speeds= [1,5,10]
1203+
angles=np.linspace(0,pi/2,4)
1204+
points=list(itertools.product(speeds,angles))
1205+
1206+
# Gains for each speed (using LQR controller)
1207+
Q=np.identity(unicycle.nstates)
1208+
R=np.identity(unicycle.ninputs)
1209+
gain,_,_=ct.lqr(unicycle.linearize([0,0,0], [5,0]),Q,R)
1210+
1211+
#
1212+
# Schedule on desired speed and angle
1213+
#
1214+
1215+
# Create a linear controller
1216+
ctrl,clsys=ct.create_statefbk_iosystem(unicycle,gain)
1217+
assert [kforkinctrl.params.keys()]== []
1218+
assert [kforkinclsys.params.keys()]== ['a']
1219+
assertclsys.params['a']==1
1220+
1221+
# Create a nonlinear controller
1222+
ctrl,clsys=ct.create_statefbk_iosystem(
1223+
unicycle,gain,controller_type='nonlinear')
1224+
assert [kforkinctrl.params.keys()]== ['K']
1225+
assert [kforkinclsys.params.keys()]== ['K','a']
1226+
assertclsys.params['a']==1
1227+
1228+
# Override the default parameters
1229+
ctrl,clsys=ct.create_statefbk_iosystem(
1230+
unicycle,gain,controller_type='nonlinear',params={'a':2,'b':1})
1231+
assert [kforkinctrl.params.keys()]== ['K']
1232+
assert [kforkinclsys.params.keys()]== ['K','a','b']
1233+
assertclsys.params['a']==2
1234+
assertclsys.params['b']==1

‎examples/steering-gainsched.py

Lines changed: 20 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -46,10 +46,10 @@ def vehicle_output(t, x, u, params):
4646
returnx# return x, y, theta (full state)
4747

4848
# Define the vehicle steering dynamics as an input/output system
49-
vehicle=ct.NonlinearIOSystem(
49+
vehicle=ct.nlsys(
5050
vehicle_update,vehicle_output,states=3,name='vehicle',
51-
inputs=('v','phi'),
52-
outputs=('x','y','theta'))
51+
inputs=('v','phi'),outputs=('x','y','theta'),
52+
params={'wheelbase':3,'maxsteer':0.5})
5353

5454
#
5555
# Gain scheduled controller
@@ -89,10 +89,12 @@ def control_output(t, x, u, params):
8989
returnnp.array([v,phi])
9090

9191
# Define the controller as an input/output system
92-
controller=ct.NonlinearIOSystem(
92+
controller=ct.nlsys(
9393
None,control_output,name='controller',# static system
9494
inputs=('ex','ey','etheta','vd','phid'),# system inputs
95-
outputs=('v','phi')# system outputs
95+
outputs=('v','phi'),# system outputs
96+
params={'longpole':-2,'latpole1':-1/2+sqrt(-7)/2,
97+
'latpole2':-1/2-sqrt(-7)/2,'wheelbase':3}
9698
)
9799

98100
#
@@ -113,7 +115,7 @@ def trajgen_output(t, x, u, params):
113115
returnnp.array([vref*t,yref,0,vref,0])
114116

115117
# Define the trajectory generator as an input/output system
116-
trajgen=ct.NonlinearIOSystem(
118+
trajgen=ct.nlsys(
117119
None,trajgen_output,name='trajgen',
118120
inputs=('vref','yref'),
119121
outputs=('xd','yd','thetad','vd','phid'))
@@ -156,10 +158,13 @@ def trajgen_output(t, x, u, params):
156158
inplist=['trajgen.vref','trajgen.yref'],
157159
inputs=['yref','vref'],
158160

159-
#System outputs
161+
# System outputs
160162
outlist=['vehicle.x','vehicle.y','vehicle.theta','controller.v',
161163
'controller.phi'],
162-
outputs=['x','y','theta','v','phi']
164+
outputs=['x','y','theta','v','phi'],
165+
166+
# Parameters
167+
params=trajgen.params|vehicle.params|controller.params,
163168
)
164169

165170
# Set up the simulation conditions
@@ -220,7 +225,8 @@ def trajgen_output(t, x, u, params):
220225
# Create the gain scheduled system
221226
controller,_=ct.create_statefbk_iosystem(
222227
vehicle, (gains,points),name='controller',ud_labels=['vd','phid'],
223-
gainsched_indices=['vd','theta'],gainsched_method='linear')
228+
gainsched_indices=['vd','theta'],gainsched_method='linear',
229+
params=vehicle.params|controller.params)
224230

225231
# Connect everything together (note that controller inputs are different)
226232
steering=ct.interconnect(
@@ -245,10 +251,13 @@ def trajgen_output(t, x, u, params):
245251
inplist=['trajgen.vref','trajgen.yref'],
246252
inputs=['yref','vref'],
247253

248-
#System outputs
254+
# System outputs
249255
outlist=['vehicle.x','vehicle.y','vehicle.theta','controller.v',
250256
'controller.phi'],
251-
outputs=['x','y','theta','v','phi']
257+
outputs=['x','y','theta','v','phi'],
258+
259+
# Parameters
260+
params=steering.params
252261
)
253262

254263
# Plot the results to compare to the previous case

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