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    Final

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    gagandeepsinghgxd
    The document contains MATLAB code for generating different trajectory paths including circular, infinity, spiral, helical, and sliding mode control trajectories. The code provides the MATLAB code to generate the trajectories and plots the results.

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    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd

    Final

    Uploaded by

    gagandeepsinghgxd
    7 views8 pages
    The document contains MATLAB code for generating different trajectory paths including circular, infinity, spiral, helical, and sliding mode control trajectories. The code provides the MATLAB code to generate the trajectories and plots the results.

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    The document contains MATLAB code for generating different trajectory paths including circular, infinity, spiral, helical, and sliding mode control trajectories. The code provides the MATLAB code to generate the trajectories and plots the results.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    7 views8 pages

    Final

    Uploaded by

    gagandeepsinghgxd
    The document contains MATLAB code for generating different trajectory paths including circular, infinity, spiral, helical, and sliding mode control trajectories. The code provides the MATLAB code to generate the trajectories and plots the results.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    You are on page 1of 8

    MATLAB program for circular trajectory

    CODE:
    %112009011_Gagandeep Singh
    clc
    clear all
    close all
    stepsize=0.001;
    t=0:stepsize:1000;
    xr=8*sin(0.01*t);
    yr=0.5*cos(0.01*t);
    figure;
    subplot(3,1,1);
    plot(xr,yr);
    title('Circular Trajectory')
    xlabel('x(cm)');
    ylabel('y(cm)')
    subplot(3,1,2);
    plot(t,xr)
    xlabel('Time(sec)');
    ylabel('y(cm)')
    subplot(3,1,3);
    plot(t,yr);
    xlabel('Time(sec)');
    ylabel('y(cm)')

    OUTPUT:
    MATLAB program for infinity.
    CODE:
    clc
    clear all
    close all
    Fs = 50;
    wps=[0 0 0;2 -2 0;4 0 0;6 2 0;8 0 0;6 -2 0; 4 0 0;2 2 0;0 0 0];
    t = 0:(size(wps,1)-1);
    traj = waypointTrajectory(wps, t, 'SampleRate', Fs);

    waypointTable = waypointInfo(traj);
    waypoints = waypointTable.Waypoints;

    pos = traj();
    while ~isDone(traj)
    pos(end+traj.SamplesPerFrame,:) = traj();
    end
    % Plot generated positions and specified waypoints.
    plot(pos(:,1),pos(:,2), waypoints(:,1),waypoints(:,2), '--o')
    title('Position')
    xlabel('X (m)')
    ylabel('Y (m)')
    zlabel('Z (m)')
    legend({'Position', 'Waypoints'})

    OUTPUT:
    MATLAB program for spiral trajectory.
    CODE:
    %112009011_Gagandeep Singh
    clc
    close all
    clear all
    % Define parameters
    n_turns = 5; % number of turns in the spiral
    r_start = 1; % starting radius of the spiral
    r_end = 5; % ending radius of the spiral
    z_start = 0; % starting z-coordinate
    z_end = 10; % ending z-coordinate

    % Generate spiral trajectory


    t = linspace(0, n_turns*2*pi, 1000); % parameterization of the spiral
    r = linspace(r_start, r_end, length(t)); % radius increases linearly
    z = linspace(z_start, z_end, length(t)); % z-coordinate increases linearly
    x = r .* cos(t); % x-coordinate of the spiral
    y = r .* sin(t); % y-coordinate of the spiral

    % Plot spiral trajectory


    plot3(x, y, z);
    xlabel('x');
    ylabel('y');
    zlabel('z');
    grid on;

    OUTPUT:
    MATLAB program for helical trajectory.

    CODE:
    %112009011_Gagandeep Singh
    %3D-Spiral path stepsize 0.001;
    stepsize=0.001;
    t=0:stepsize:1000;
    xr=8*sin(0.01*t);
    yr=0.5*cos(0.01*t);
    zr=t;
    figure(1)
    plot3(xr,yr,zr);
    xlabel('x')
    ylabel('y')
    zlabel('z')
    title('Helical Trajectory');
    grid on
    figure(2)
    subplot(3,1,1)
    plot(t,xr)
    ylabel('x');
    xlabel('Time');
    title('xr');
    grid on
    subplot(3,1,2)
    plot(t,yr)
    ylabel('y');
    xlabel('Time');
    title('yr');
    grid on
    subplot(3,1,3)
    plot(t,zr);
    ylabel('z');
    xlabel('Time');
    title('zr');
    OUTPUT:
    MATLAB program for sliding mode control.
    CODE:
    clc
    clear all
    close all
    x1=0.1;
    x2=0.1;
    M=0.5;
    k=10;
    L=2.5;
    g=9.8;
    a=5;
    stepsize=0.001;
    phi=0.01;
    z=1;
    for t=0:stepsize:20
    s=a*x1+x2;
    u=(M*L^2)*(-a*x2 + (L/g)*sin(x1))-k*sign(s);
    x1dot=x2;
    x2dot=(-g/L)*sin(x1)+(1/(M*(L^2)))*u;
    x1 = x1dot*stepsize + x1;
    x2 = x2dot*stepsize + x2;
    st1(z)=x1;
    st2(z)=x2;
    st3(z)=u;
    z=z+1;
    hold on;
    end
    t=0:stepsize:20;
    hold on
    figure(1)
    subplot(3,1,1)
    plot(t,st1);
    xlabel('Time');
    ylabel('y(cm)');
    hold on
    subplot(3,1,2)
    plot(t,st2)
    xlabel('Time');
    ylabel('y(cm)');
    grid on
    subplot(3,1,3)
    plot(t,st3);
    xlabel('Time');
    ylabel('y(cm)');
    grid on
    figure(2)
    plot(st1,st2);
    grid on
    OUTPUT:

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