Add org-setup-file that all org file links to
This commit is contained in:
@@ -4,259 +4,25 @@
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-03-26 jeu. 17:25 -->
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<!-- 2020-04-17 ven. 09:35 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Control in the Frame of the Legs applied on the Simscape Model</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<style type="text/css">
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<!--/*--><![CDATA[/*><!--*/
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.title { text-align: center;
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margin-bottom: .2em; }
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.subtitle { text-align: center;
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font-size: medium;
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font-weight: bold;
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margin-top:0; }
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.todo { font-family: monospace; color: red; }
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.done { font-family: monospace; color: green; }
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.priority { font-family: monospace; color: orange; }
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.tag { background-color: #eee; font-family: monospace;
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padding: 2px; font-size: 80%; font-weight: normal; }
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.timestamp { color: #bebebe; }
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.timestamp-kwd { color: #5f9ea0; }
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.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
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.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
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.org-center { margin-left: auto; margin-right: auto; text-align: center; }
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.underline { text-decoration: underline; }
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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p.verse { margin-left: 3%; }
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pre {
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border: 1px solid #ccc;
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box-shadow: 3px 3px 3px #eee;
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padding: 8pt;
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font-family: monospace;
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overflow: auto;
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margin: 1.2em;
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}
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pre.src {
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position: relative;
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overflow: visible;
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padding-top: 1.2em;
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}
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pre.src:before {
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display: none;
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position: absolute;
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background-color: white;
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top: -10px;
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right: 10px;
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padding: 3px;
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border: 1px solid black;
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}
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pre.src:hover:before { display: inline;}
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/* Languages per Org manual */
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pre.src-asymptote:before { content: 'Asymptote'; }
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pre.src-awk:before { content: 'Awk'; }
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pre.src-C:before { content: 'C'; }
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/* pre.src-C++ doesn't work in CSS */
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pre.src-clojure:before { content: 'Clojure'; }
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pre.src-css:before { content: 'CSS'; }
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pre.src-D:before { content: 'D'; }
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pre.src-ditaa:before { content: 'ditaa'; }
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pre.src-dot:before { content: 'Graphviz'; }
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pre.src-calc:before { content: 'Emacs Calc'; }
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pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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pre.src-fortran:before { content: 'Fortran'; }
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pre.src-gnuplot:before { content: 'gnuplot'; }
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pre.src-haskell:before { content: 'Haskell'; }
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pre.src-hledger:before { content: 'hledger'; }
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pre.src-java:before { content: 'Java'; }
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pre.src-js:before { content: 'Javascript'; }
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pre.src-latex:before { content: 'LaTeX'; }
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pre.src-ledger:before { content: 'Ledger'; }
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pre.src-lisp:before { content: 'Lisp'; }
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pre.src-lilypond:before { content: 'Lilypond'; }
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pre.src-lua:before { content: 'Lua'; }
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pre.src-matlab:before { content: 'MATLAB'; }
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pre.src-mscgen:before { content: 'Mscgen'; }
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pre.src-ocaml:before { content: 'Objective Caml'; }
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pre.src-octave:before { content: 'Octave'; }
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pre.src-org:before { content: 'Org mode'; }
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pre.src-oz:before { content: 'OZ'; }
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pre.src-plantuml:before { content: 'Plantuml'; }
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pre.src-processing:before { content: 'Processing.js'; }
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pre.src-python:before { content: 'Python'; }
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pre.src-R:before { content: 'R'; }
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pre.src-ruby:before { content: 'Ruby'; }
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pre.src-sass:before { content: 'Sass'; }
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pre.src-scheme:before { content: 'Scheme'; }
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pre.src-screen:before { content: 'Gnu Screen'; }
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pre.src-sed:before { content: 'Sed'; }
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pre.src-sh:before { content: 'shell'; }
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pre.src-sql:before { content: 'SQL'; }
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pre.src-sqlite:before { content: 'SQLite'; }
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/* additional languages in org.el's org-babel-load-languages alist */
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pre.src-forth:before { content: 'Forth'; }
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pre.src-io:before { content: 'IO'; }
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pre.src-J:before { content: 'J'; }
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pre.src-makefile:before { content: 'Makefile'; }
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pre.src-maxima:before { content: 'Maxima'; }
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pre.src-perl:before { content: 'Perl'; }
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pre.src-picolisp:before { content: 'Pico Lisp'; }
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pre.src-scala:before { content: 'Scala'; }
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pre.src-shell:before { content: 'Shell Script'; }
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pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
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/* additional language identifiers per "defun org-babel-execute"
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in ob-*.el */
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pre.src-cpp:before { content: 'C++'; }
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pre.src-abc:before { content: 'ABC'; }
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pre.src-coq:before { content: 'Coq'; }
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pre.src-groovy:before { content: 'Groovy'; }
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/* additional language identifiers from org-babel-shell-names in
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ob-shell.el: ob-shell is the only babel language using a lambda to put
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the execution function name together. */
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pre.src-bash:before { content: 'bash'; }
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pre.src-csh:before { content: 'csh'; }
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pre.src-ash:before { content: 'ash'; }
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pre.src-dash:before { content: 'dash'; }
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pre.src-ksh:before { content: 'ksh'; }
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pre.src-mksh:before { content: 'mksh'; }
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pre.src-posh:before { content: 'posh'; }
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/* Additional Emacs modes also supported by the LaTeX listings package */
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pre.src-ada:before { content: 'Ada'; }
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pre.src-asm:before { content: 'Assembler'; }
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pre.src-caml:before { content: 'Caml'; }
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pre.src-delphi:before { content: 'Delphi'; }
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pre.src-html:before { content: 'HTML'; }
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pre.src-idl:before { content: 'IDL'; }
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pre.src-mercury:before { content: 'Mercury'; }
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pre.src-metapost:before { content: 'MetaPost'; }
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pre.src-modula-2:before { content: 'Modula-2'; }
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pre.src-pascal:before { content: 'Pascal'; }
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pre.src-ps:before { content: 'PostScript'; }
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pre.src-prolog:before { content: 'Prolog'; }
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pre.src-simula:before { content: 'Simula'; }
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pre.src-tcl:before { content: 'tcl'; }
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pre.src-tex:before { content: 'TeX'; }
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pre.src-plain-tex:before { content: 'Plain TeX'; }
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pre.src-verilog:before { content: 'Verilog'; }
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pre.src-vhdl:before { content: 'VHDL'; }
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pre.src-xml:before { content: 'XML'; }
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pre.src-nxml:before { content: 'XML'; }
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/* add a generic configuration mode; LaTeX export needs an additional
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(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
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pre.src-conf:before { content: 'Configuration File'; }
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table { border-collapse:collapse; }
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caption.t-above { caption-side: top; }
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caption.t-bottom { caption-side: bottom; }
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td, th { vertical-align:top; }
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th.org-right { text-align: center; }
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th.org-left { text-align: center; }
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th.org-center { text-align: center; }
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td.org-right { text-align: right; }
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td.org-left { text-align: left; }
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td.org-center { text-align: center; }
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dt { font-weight: bold; }
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.footpara { display: inline; }
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.footdef { margin-bottom: 1em; }
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.figure { padding: 1em; }
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.figure p { text-align: center; }
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.equation-container {
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display: table;
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text-align: center;
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width: 100%;
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}
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.equation {
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vertical-align: middle;
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}
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.equation-label {
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display: table-cell;
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text-align: right;
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vertical-align: middle;
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}
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.inlinetask {
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padding: 10px;
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border: 2px solid gray;
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margin: 10px;
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background: #ffffcc;
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}
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#org-div-home-and-up
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{ text-align: right; font-size: 70%; white-space: nowrap; }
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textarea { overflow-x: auto; }
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.linenr { font-size: smaller }
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.code-highlighted { background-color: #ffff00; }
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.org-info-js_info-navigation { border-style: none; }
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#org-info-js_console-label
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{ font-size: 10px; font-weight: bold; white-space: nowrap; }
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.org-info-js_search-highlight
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{ background-color: #ffff00; color: #000000; font-weight: bold; }
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.org-svg { width: 90%; }
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/*]]>*/-->
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</style>
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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<script type="text/javascript" src="./js/jquery.min.js"></script>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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<script type="text/javascript" src="./js/readtheorg.js"></script>
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<script type="text/javascript">
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/*
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@licstart The following is the entire license notice for the
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JavaScript code in this tag.
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Copyright (C) 2012-2020 Free Software Foundation, Inc.
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The JavaScript code in this tag is free software: you can
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redistribute it and/or modify it under the terms of the GNU
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||||
General Public License (GNU GPL) as published by the Free Software
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Foundation, either version 3 of the License, or (at your option)
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||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
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||||
without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
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||||
As additional permission under GNU GPL version 3 section 7, you
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||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
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||||
through which recipients can access the Corresponding Source.
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||||
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||||
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||||
@licend The above is the entire license notice
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||||
for the JavaScript code in this tag.
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*/
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<!--/*--><![CDATA[/*><!--*/
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function CodeHighlightOn(elem, id)
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{
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var target = document.getElementById(id);
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if(null != target) {
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||||
elem.cacheClassTarget = target.className;
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||||
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}
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||||
}
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||||
function CodeHighlightOff(elem, id)
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{
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||||
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||||
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||||
if(elem.cacheClassTarget)
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||||
target.className = elem.cacheClassTarget;
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}
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/*]]>*///-->
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</script>
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<script>
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MathJax = {
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tex: { macros: {
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bm: ["\\boldsymbol{#1}",1],
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}
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||||
}
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||||
<script src="./js/jquery.min.js"></script>
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||||
<script src="./js/bootstrap.min.js"></script>
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||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
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||||
<script>MathJax = {
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||||
tex: {
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||||
tags: 'ams',
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||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
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||||
<script type="text/javascript"
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||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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</head>
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||||
<body>
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||||
<div id="org-div-home-and-up">
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@@ -271,26 +37,26 @@ for the JavaScript code in this tag.
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<ul>
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<li><a href="#org1f22cdb">1. Decentralized Control</a>
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<ul>
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<li><a href="#orgcd58f5e">1.1. Control Schematic</a></li>
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<li><a href="#org4318f13">1.2. Initialize the Simscape Model</a></li>
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<li><a href="#org01937c0">1.1. Control Schematic</a></li>
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<li><a href="#orgc9e3b66">1.2. Initialize the Simscape Model</a></li>
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<li><a href="#org42afc36">1.3. Identification of the plant</a></li>
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<li><a href="#org871560e">1.4. Plant Analysis</a></li>
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<li><a href="#orgdf3c9aa">1.5. Controller Design</a></li>
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<li><a href="#org753f2c4">1.6. Simulation</a></li>
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<li><a href="#orgd8c14ee">1.7. Results</a></li>
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||||
<li><a href="#org296e3de">1.5. Controller Design</a></li>
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||||
<li><a href="#orgb7afa1e">1.6. Simulation</a></li>
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||||
<li><a href="#orgbb1dc16">1.7. Results</a></li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#orgfa4be92">2. HAC-LAC (IFF) Decentralized Control</a>
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<ul>
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<li><a href="#org744f1a3">2.1. Control Schematic</a></li>
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||||
<li><a href="#org0e6472e">2.2. Initialize the Simscape Model</a></li>
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||||
<li><a href="#orgbc4af09">2.1. Control Schematic</a></li>
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||||
<li><a href="#org5ac6c37">2.2. Initialize the Simscape Model</a></li>
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||||
<li><a href="#org0903106">2.3. Initialization</a></li>
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||||
<li><a href="#orge739f61">2.4. Identification for IFF</a></li>
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||||
<li><a href="#org08b6a99">2.5. Integral Force Feedback Controller</a></li>
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||||
<li><a href="#org06b5c75">2.6. Identification of the damped plant</a></li>
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||||
<li><a href="#orgf258d8b">2.7. Controller Design</a></li>
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||||
<li><a href="#org5f74b9e">2.8. Simulation</a></li>
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||||
<li><a href="#org42ecd75">2.9. Results</a></li>
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||||
<li><a href="#org85a0730">2.7. Controller Design</a></li>
|
||||
<li><a href="#org58ffd80">2.8. Simulation</a></li>
|
||||
<li><a href="#orga01ccc6">2.9. Results</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li><a href="#org21a9294">3. Conclusion</a></li>
|
||||
@@ -306,11 +72,11 @@ In this document, we apply some decentralized control to the NASS and see what l
|
||||
<h2 id="org1f22cdb"><span class="section-number-2">1</span> Decentralized Control</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
</div>
|
||||
<div id="outline-container-orgcd58f5e" class="outline-3">
|
||||
<h3 id="orgcd58f5e"><span class="section-number-3">1.1</span> Control Schematic</h3>
|
||||
<div id="outline-container-org01937c0" class="outline-3">
|
||||
<h3 id="org01937c0"><span class="section-number-3">1.1</span> Control Schematic</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
The control architecture is shown in Figure <a href="#org5b991df">1</a>.
|
||||
The control architecture is shown in Figure <a href="#org5b9133f">1</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@@ -326,7 +92,7 @@ The signals are:
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="org5b991df" class="figure">
|
||||
<div id="org5b9133f" class="figure">
|
||||
<p><img src="figs/decentralized_reference_tracking_L.png" alt="decentralized_reference_tracking_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Decentralized control for reference tracking</p>
|
||||
@@ -334,8 +100,8 @@ The signals are:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4318f13" class="outline-3">
|
||||
<h3 id="org4318f13"><span class="section-number-3">1.2</span> Initialize the Simscape Model</h3>
|
||||
<div id="outline-container-orgc9e3b66" class="outline-3">
|
||||
<h3 id="orgc9e3b66"><span class="section-number-3">1.2</span> Initialize the Simscape Model</h3>
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||||
<div class="outline-text-3" id="text-1-2">
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||||
<p>
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||||
We initialize all the stages with the default parameters.
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||||
@@ -449,8 +215,8 @@ We can see that:
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||||
</div>
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||||
</div>
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||||
|
||||
<div id="outline-container-orgdf3c9aa" class="outline-3">
|
||||
<h3 id="orgdf3c9aa"><span class="section-number-3">1.5</span> Controller Design</h3>
|
||||
<div id="outline-container-org296e3de" class="outline-3">
|
||||
<h3 id="org296e3de"><span class="section-number-3">1.5</span> Controller Design</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<p>
|
||||
The controller consists of:
|
||||
@@ -496,8 +262,8 @@ We add a minus sign to the controller as it is not included in the Simscape mode
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org753f2c4" class="outline-3">
|
||||
<h3 id="org753f2c4"><span class="section-number-3">1.6</span> Simulation</h3>
|
||||
<div id="outline-container-orgb7afa1e" class="outline-3">
|
||||
<h3 id="orgb7afa1e"><span class="section-number-3">1.6</span> Simulation</h3>
|
||||
<div class="outline-text-3" id="text-1-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'ref-track-L'</span>);
|
||||
@@ -523,8 +289,8 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd8c14ee" class="outline-3">
|
||||
<h3 id="orgd8c14ee"><span class="section-number-3">1.7</span> Results</h3>
|
||||
<div id="outline-container-orgbb1dc16" class="outline-3">
|
||||
<h3 id="orgbb1dc16"><span class="section-number-3">1.7</span> Results</h3>
|
||||
<div class="outline-text-3" id="text-1-7">
|
||||
<p>
|
||||
The reference path and the position of the mobile platform are shown in Figure <a href="#org247b3a0">4</a>.
|
||||
@@ -554,11 +320,11 @@ We here add an Active Damping Loop (Integral Force Feedback) prior to using the
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org744f1a3" class="outline-3">
|
||||
<h3 id="org744f1a3"><span class="section-number-3">2.1</span> Control Schematic</h3>
|
||||
<div id="outline-container-orgbc4af09" class="outline-3">
|
||||
<h3 id="orgbc4af09"><span class="section-number-3">2.1</span> Control Schematic</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
The control architecture is shown in Figure <a href="#org5b991df">1</a>.
|
||||
The control architecture is shown in Figure <a href="#org5b9133f">1</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@@ -574,7 +340,7 @@ The signals are:
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="orgda1b906" class="figure">
|
||||
<div id="org657383b" class="figure">
|
||||
<p><img src="figs/decentralized_reference_tracking_L.png" alt="decentralized_reference_tracking_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Decentralized control for reference tracking</p>
|
||||
@@ -582,8 +348,8 @@ The signals are:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e6472e" class="outline-3">
|
||||
<h3 id="org0e6472e"><span class="section-number-3">2.2</span> Initialize the Simscape Model</h3>
|
||||
<div id="outline-container-org5ac6c37" class="outline-3">
|
||||
<h3 id="org5ac6c37"><span class="section-number-3">2.2</span> Initialize the Simscape Model</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -719,8 +485,8 @@ Gd.OutputName = {<span class="org-string">'El1'</span>, <span class="org-string"
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf258d8b" class="outline-3">
|
||||
<h3 id="orgf258d8b"><span class="section-number-3">2.7</span> Controller Design</h3>
|
||||
<div id="outline-container-org85a0730" class="outline-3">
|
||||
<h3 id="org85a0730"><span class="section-number-3">2.7</span> Controller Design</h3>
|
||||
<div class="outline-text-3" id="text-2-7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">wc = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>300;
|
||||
@@ -748,8 +514,8 @@ Kl = diag(1<span class="org-type">./</span>diag(abs(freqresp(Gd, wc)))) <span cl
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org5f74b9e" class="outline-3">
|
||||
<h3 id="org5f74b9e"><span class="section-number-3">2.8</span> Simulation</h3>
|
||||
<div id="outline-container-org58ffd80" class="outline-3">
|
||||
<h3 id="org58ffd80"><span class="section-number-3">2.8</span> Simulation</h3>
|
||||
<div class="outline-text-3" id="text-2-8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'ref-track-iff-L'</span>);
|
||||
@@ -775,8 +541,8 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org42ecd75" class="outline-3">
|
||||
<h3 id="org42ecd75"><span class="section-number-3">2.9</span> Results</h3>
|
||||
<div id="outline-container-orga01ccc6" class="outline-3">
|
||||
<h3 id="orga01ccc6"><span class="section-number-3">2.9</span> Results</h3>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org21a9294" class="outline-2">
|
||||
@@ -785,7 +551,7 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user