tdehaeze/phd-simscape-nano-hexapod
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Remove several control architectures

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This commit is contained in:
Thomas Dehaeze
2025-02-12 10:42:44 +01:00
parent 8ba31906c7
commit 0800dc609e
3 changed files with 17 additions and 55 deletions
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matlab/nano_hexapod_model.slx
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25
matlab/src/initializeController.m
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@@ -1,7 +1,7 @@
function [] = initializeController(args)
arguments
args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
args.type char {mustBeMember(args.type,{'open-loop', 'iff'})} = 'open-loop'
end
controller = struct();
@@ -10,30 +10,9 @@ function [] = initializeController(args)
case 'open-loop'
controller.type = 1;
controller.name = 'Open-Loop';
case 'dvf'
controller.type = 2;
controller.name = 'Decentralized Direct Velocity Feedback';
case 'iff'
controller.type = 3;
controller.type = 2;
controller.name = 'Decentralized Integral Force Feedback';
case 'hac-dvf'
controller.type = 4;
controller.name = 'HAC-DVF';
case 'ref-track-L'
controller.type = 5;
controller.name = 'Reference Tracking in the frame of the legs';
case 'ref-track-iff-L'
controller.type = 6;
controller.name = 'Reference Tracking in the frame of the legs + IFF';
case 'cascade-hac-lac'
controller.type = 7;
controller.name = 'Cascade Control + HAC-LAC';
case 'hac-iff'
controller.type = 8;
controller.name = 'HAC-IFF';
case 'stabilizing'
controller.type = 9;
controller.name = 'Stabilizing Controller';
end
if exist('./mat', 'dir')