lqg.c File Reference

LQG Control algorithm. More...

#include "lqg.h"

Go to the source code of this file.

Data Structures
struct	rtkf_state
struct	lqr_state
struct	lqg_state

Macros
#define	SOLVER_MIN   100
#define	SOLVER_MAX   11000
#define	SOLVER_KF_TORQUE_EPSILON   0.000000001f
#define	SOLVER_KF_BIAS_EPSILON   0.000000001f
#define	SOLVER_LQR_RATE_EPSILON   0.00000001f
#define	SOLVER_LQR_TORQUE_EPSILON   0.000001f
#define	P00   P[0][0]
#define	P10   P[1][0]
#define	P20   P[2][0]
#define	P01   P[0][1]
#define	P11   P[1][1]
#define	P21   P[2][1]
#define	P02   P[0][2]
#define	P12   P[1][2]
#define	P22   P[2][2]
#define	A00   A[0][0]
#define	A10   A[1][0]
#define	A20   A[2][0]
#define	A01   A[0][1]
#define	A11   A[1][1]
#define	A21   A[2][1]
#define	A02   A[0][2]
#define	A12   A[1][2]
#define	A22   A[2][2]
#define	Q00   Q[0][0]
#define	Q10   Q[1][0]
#define	Q20   Q[2][0]
#define	Q01   Q[0][1]
#define	Q11   Q[1][1]
#define	Q21   Q[2][1]
#define	Q02   Q[0][2]
#define	Q12   Q[1][2]
#define	Q22   Q[2][2]
#define	B0   B[0]
#define	B1   B[1]
#define	B2   B[2]
#define	X0   X[0]
#define	X1   X[1]
#define	X2   X[2]
#define	K0   K[0]
#define	K1   K[1]
#define	K2   K[2]

Functions
bool	rtkf_calculate_covariance_3x3 (float A[3][3], float K[3], float P[3][3], float Q[3][3], float R)
void	rtkf_stabilize_covariance (rtkf_t rtkf, int iterations)
void	rtkf_prediction_step (float A[3][3], float B[3], float K[3], float X[3], float signal, float input)
void	rtkf_predict_axis (rtkf_t rtkf, float signal, float input, float Xout[3])
void	rtkf_initialize_matrices_int (float A[3][3], float B[3], float beta, float tau, float Ts)
rtkf_t	rtkf_create (float beta, float tau, float Ts, float R, float q1, float q2, float q3, float biaslim)
int	rtkf_solver_status (rtkf_t rtkf)
bool	lqr_calculate_covariance_2x2 (float A[2][2], float B[2], float K[2], float P[2][2], float Q[2][2], float R)
void	lqr_stabilize_covariance (lqr_t lqr, int iterations)
int	lqr_solver_status (lqr_t lqr)
void	lqr_initialize_matrices_int (float A[2][2], float B[2], float beta, float tau, float Ts)
lqr_t	lqr_create (float beta, float tau, float Ts, float q1, float q2, float r)
void	lqr_update (lqr_t lqr, float q1, float q2, float r)
void	lqr_get_gains (lqr_t lqr, float K[2])
float	lqg_controller (lqg_t lqg, float signal, float setpoint)
lqg_t	lqg_create (rtkf_t rtkf, lqr_t lqr)
void	lqg_get_rtkf_state (lqg_t lqg, float *rate, float *torque, float *bias)
void	lqg_set_x0 (lqg_t lqg, float x0)
int	lqg_solver_status (lqg_t lqg)
rtkf_t	lqg_get_rtkf (lqg_t lqg)
lqr_t	lqg_get_lqr (lqg_t lqg)
void	lqg_run_covariance (lqg_t lqg, int iter)

Detailed Description

LQG Control algorithm.

Author

dRonin, http://dronin.org, Copyright (C) 2018

See Also

The GNU Public License (GPL) Version 3

Definition in file lqg.c.