Lovely-XPP / HAC-Affine

Enhanced Affine Formation Maneuver Control Using Historical Acceleration Command (HAC) Simulation Code

Introduction

Simulation code for Enhanced Affine Formation Maneuver Control Using Historical Acceleration Command (HAC).

Author：Wei Yu & Peng Yi

Date： 2023-07-22

Requirments

• Matlab Version 2020b and above.
• Simulink Version 2020b and above.

Code Structure

• affine_double_intergrator.slx - Main programme of simulation by Simulink.

• run_by_script.m - A Matlab script to easyly run simulation and demonstrate results including essential figures and cohesiveness.

• fcn_StressMatrix.m - A script to calculate Stress Matrix by Shiyu, Zhao.

• Initial_Parameters.m - A script to initialize parameters for simulation.

• FigureUtility - Functions of visualizing simulation results including trajectory, norm error, etc.

• VideoUtility - Functions of visualizing simulation formation maneuvering and some cases demonstration.

Usage

It is strongly recommended to use run_by_script.m for simulation. Detailed Usage is as follow:

• Setting simulation case with different $\tau$: setting variable delays. Example:

  delays = [0.01, 0.1, 0.5, 1];

• Setting different controller parameters: setting variable kp, kv and kbeta, which is as the same as the paper defined. Example:

  kp = 1;
  kv = 10;
  kbeta = 1.5;

• Setting simulation condition: variable simtime for simulation time and variable simstep for simulation step size. Example:

  simtime = 50;
  simstep = 0.01;

If you want to change formation and initial positions, you can modity Initial_Parameters.m. Detailed Usage is as follow:

• Setting formation: setting variable P, which means the configuration of the agents， also, you need to change Adjacency Matrix. Example:

  P=2*[2 0;
      1 1;
      1 -1;
      0 1.2;
      0 -1.2;
      -1 1;
      -1 -1;
      -2 0.5;
      -2 -0.5];
  
  neighborMat=zeros(nodenum,nodenum);
  neighborMat(1,2)=1;neighborMat(1,3)=1;neighborMat(1,8)=1;neighborMat(1,9)=1;
  neighborMat(2,4)=1;neighborMat(2,7)=1;
  neighborMat(3,5)=1;neighborMat(3,6)=1;neighborMat(3,4)=1;neighborMat(2,5)=1;
  neighborMat(4,5)=1;neighborMat(4,6)=1;neighborMat(2,7)=1;neighborMat(4,7)=0;
  neighborMat(5,7)=1;neighborMat(5,8)=0;neighborMat(5,6)=0;
  neighborMat(6,7)=1;neighborMat(6,8)=1;
  neighborMat(7,9)=1;
  neighborMat(8,9)=1;

• Setting initial positions: setting variable P0. Example:

  P0 = [2 0;
        1 1;
        1 -1;
        1 2.2;
        -1 -2.2;
        1 3;
        -3 -3;
        1 3.5;
        -5 -3.5];