FormationControlSimulation/SOURCE/SM_2015_Rozenheck.m

clear -all

graphics_toolkit('gnuplot')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene

bParam = struct();
bParam.model = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./');
bParam.edgeL = [1 2 1;3 2 1;3 1 1;];
bParam.dScale = 3;
bParam.nNodeVref = 1;
bParam.ki1 = 0;
bParam.ki2 = 0;  
bparam.hStep = .01;
bParam.tspan = 1:bparam.hStep:20;

#### KOOR 1
bParam.corRobot = [0; 0;0;1; 2;0;-2; 3;0;]; % xy xy xy
  ## CASE 1
  bParam.kp1 = 50;
  bParam.kp2 = 3;

  bP(1,1) = bParam;
        
  ## CASE 2
  bParam.kp1 = 80;
  bParam.kp2 = 7;

  bP(1,2) = bParam;

  # CASE 3
  bParam.kp1 = 100;
  bParam.kp2 = 15;

  bP(1,3) = bParam;

## KOOR 2
bParam.corRobot = [0; 0;0;-2; -4;0;3; -2;0;]; % xy xy xy
  ## CASE 1
  bParam.kp1 = 50;
  bParam.kp2 = 3;

  bP(2,1) = bParam;
        
  ## CASE 2
  bParam.kp1 = 80;
  bParam.kp2 = 7;

  bP(2,2) = bParam;

  # CASE 3
  bParam.kp1 = 100;
  bParam.kp2 = 15;

  bP(2,3) = bParam;

## KOOR 3
bParam.corRobot = [0; 0;0;1; 2;0;3; -3;0;]; % xy xy xy
  ## CASE 1
  bParam.kp1 = 50;
  bParam.kp2 = 3;

  bP(3,1) = bParam;
        
  ## CASE 2
  bParam.kp1 = 80;
  bParam.kp2 = 7;

  bP(3,2) = bParam;

  # CASE 3
  bParam.kp1 = 100;
  bParam.kp2 = 15;

  bP(3,3) = bParam;
  
## KOOR 4
bParam.corRobot = [0; 0;0;-2; -3;0;3; 2;0;]; % xy xy xy  
  ## CASE 1
  bParam.kp1 = 50;
  bParam.kp2 = 3;

  bP(4,1) = bParam;
        
  ## CASE 2
  bParam.kp1 = 80;
  bParam.kp2 = 7;

  bP(4,2) = bParam;

  # CASE 3
  bParam.kp1 = 100;
  bParam.kp2 = 15;

  bP(4,3) = bParam;
  
close all

for i = 1:size(bP,1)
  [t,y,Dd,DdNorm] = run_my_simulation(bP(i,1));
  figure
  plot_con( y', bParam.edgeL,  [1, length(bP(1,1).tspan)] ,bP(i,1));
  title(sprintf("Motion dari Robot Case %i ", i ));
  
  figure
  resdd = struct();
  resdd.DdNorm = DdNorm;
  allresdd(1) = resdd;
  for j = 2:size(bP,2)
    [t,y,Dd,resdd.DdNorm] = run_my_simulation(bP(i,j));
    allresdd(j) = resdd;
  endfor
  plot(t,allresdd(1).DdNorm,t,allresdd(2).DdNorm,t,allresdd(3).DdNorm);
  title(sprintf("Norm Distance error Case %i ", i));
endfor