Added disturbance forces and torques #46
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added 28 commits
October 28, 2013 17:02
If you want to use disturbance forces and torques, set the configuration parameter 'useDisturbanceForcesAndTorques' to true. They are added to the aero forces and torques. If you wish to do MHE with these disturbances, it is not possible, because the IMU_acceleration measurement function depends on these forces (and you cannot depend on both states and controls). Therefore, I added 3 dummy control inputs u_a1, u_a2 and u_a3. Enable them by setting 'useDummyAccelerationControls' to true. Now you can do a trick: In stead of doing: minize norm( h(x,u)-y ) which is not allowed, you can do in stead minimuze norm( u_a ) subject to h(x,u) - u_a == 0 which is allowed.
And also the dummy control inputs
They are added as states, with derivative set to 0, such that they act as a parameter.
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I added disturbance forces and torques ( if 'useDisturbanceForcesAndTorques' is True and present in conf). They are added as control inputs and added to the aero forces and torques.
I also added 3 'dummy' control inputs (if 'useDummyAccelerationControls' is True and present in conf). They can be used if you want to do MHE using the disturbance forces, because with these disturbance forces, IMU_acceleration now depends on both states and controls. Using extra control inputs, and setting these equal to IMU_acceleration via a constraint, is a trick to have measurement functions depending on both x and u.