File content as of revision 0:bfcd2371f3dc:

#include "ANTI_SLIP_FUZZY_CONTROL.h"

//------------------------------------------//
// The template for building a library
//   for control system apllication
//------------------------------------------//

// The plant is a (p, n, q) system
// Dimensions:
//
// Inputs, u   |   States, x    |   outputs, y
//     p     -->      n        -->      q
//

//
// The number of vertex systems is m_vertex.
//

ANTI_SLIP_FUZZY_CONTROL::ANTI_SLIP_FUZZY_CONTROL(size_t num_state, size_t num_in, size_t num_out, size_t num_vertex, float samplingTime):
        n(num_state), p(num_in), q(num_out), m_vertex(num_vertex), Ts(samplingTime),
        E_out(num_out, vector<float>(num_state,0.0)),
        ver_K_matrix(num_vertex ,vector<vector<float> >(num_in, vector<float>( (num_state + num_out), 0.0)) ),
        SA_r(1.0, 0.0),
        SA_l(1.0, 0.0)
{
    // Normally, q = p
    if (q > p)
        q = p;
    //
    zeros_n.assign(n, 0.0);
    zeros_p.assign(p, 0.0);
    zeros_q.assign(q, 0.0);
    zeros_nPq.assign((n+q), 0.0); // (n+q)
    zeros_m_vertex.assign(m_vertex, 0.0);
    //
    ones_p.assign(p, 1.0);

    // States
    // Input signal ---
    states = zeros_n;
    command = zeros_q; // r, commands, q = p
    // Output signal ---
    sys_inputs = zeros_p;

    // Internal states ---
    ver_u.assign(m_vertex, zeros_p);
    sys_outputs = zeros_q;
    // Integral state
    state_int = zeros_q;
    // Total states, [states; state_int]
    state_total = zeros_nPq;


    // The composition ratio of each vertex system
    ver_ratio = zeros_m_vertex; // ver_ratio \in R^m_vertex, its values are in [0, 1]
    ver_ratio[3] = 1.0; // Vertex of no-slip system

}
// Assign Parameters
void ANTI_SLIP_FUZZY_CONTROL::assign_E_out(float* E_out_in){
    // E_out_in is the pointer of a mutidimentional array with size q by n
    E_out.assign(q, zeros_n);
    //
    for (size_t i = 0; i < q; ++i){
        for (size_t j = 0; j < n; ++j){
            // E_out[i][j] = E_out_in[i][j];
            E_out[i][j] = *E_out_in;
            E_out_in++;
        }
    }
}
// 1st controller Parameters (no-slip plant, sys_dVs)
void ANTI_SLIP_FUZZY_CONTROL::assign_ver_K_matrix(float* ver_K_matrix_in){
    // ver_K_matrix_in is the pointer of a list of mutidimentional array with size p by (n+q)
    ver_K_matrix.assign(m_vertex, vector<vector<float> >(p, zeros_nPq) );
    //
    for (size_t k = 0; k < m_vertex; ++k){
        // For each vertex
        for (size_t i = 0; i < p; ++i){
            for (size_t j = 0; j < (n+q); ++j){
                // (ver_K_matrix[k])[i][j] = ver_K_matrix_in[i][j];
                (ver_K_matrix[k])[i][j] = *ver_K_matrix_in;
                ver_K_matrix_in++;
            }
        }
        //
    }
    //
}


//
void ANTI_SLIP_FUZZY_CONTROL::set_ver_ratio(float ratio_ft_right, float ratio_ft_left){
    float one_ratio_ft_right;
    float one_ratio_ft_left;
    // Input Saturation
    ratio_ft_right = SA_r.filter(ratio_ft_right);
    ratio_ft_left = SA_l.filter(ratio_ft_left);
    //
    one_ratio_ft_right = 1.0 - ratio_ft_right;
    one_ratio_ft_left = 1.0 - ratio_ft_left;
    //
    ver_ratio[0] = one_ratio_ft_right   * one_ratio_ft_left;
    ver_ratio[1] = ratio_ft_right       * one_ratio_ft_left;
    ver_ratio[2] = one_ratio_ft_right   * ratio_ft_left;
    ver_ratio[3] = ratio_ft_right       * ratio_ft_left;
}
//
void ANTI_SLIP_FUZZY_CONTROL::fullStateFeedBack_calc(bool enable){

    // Control law
    if (enable){
        // Get the state_total
        get_state_total();


        /*
        // Slower solution, record the outout of each vertex controller
        sys_inputs = zeros_p;
        //
        for (size_t k = 0; k < m_vertex; ++k){
            ver_u[k] = Get_VectorScalarMultiply( Mat_multiply_Vec(ver_K_matrix[k], state_total), -1.0 );
            Get_VectorIncrement(sys_inputs, Get_VectorScalarMultiply( ver_u[k], ver_ratio[k]), false); // +=
        }
        */



        // Faster solution, no recording the output of each vertex controller
        sys_inputs = zeros_p;
        //

        for (size_t k = 0; k < m_vertex; ++k){
            // sys_inputs -= ver_ratio[k]*(ver_K_matrix[k]*state_total);
            Get_VectorIncrement(sys_inputs, Get_VectorScalarMultiply( Mat_multiply_Vec(ver_K_matrix[k], state_total), ver_ratio[k] ), true); // -=
        }



        /*
        for (size_t k = 3; k < 4; ++k){
            // sys_inputs -= ver_ratio[k]*(ver_K_matrix[k]*state_total);
            Get_VectorIncrement(sys_inputs, Get_VectorScalarMultiply( Mat_multiply_Vec(ver_K_matrix[k], state_total), ver_ratio[k] ), true); // -=
        }
        */



        //
    }else{
        state_total = zeros_nPq;
        sys_inputs = zeros_p;
    }

    // Integral action
    get_integral(enable);
}

// Private functions
// Calculate the sys_outputs
void ANTI_SLIP_FUZZY_CONTROL::get_sys_outputs(void){ // Calculate the sys_outputs from states, by mutiplying E_out
    // sys_outputs = E_out*states
    // Mat_multiply_Vec(sys_outputs, E_out, states);
    sys_outputs = Mat_multiply_Vec(E_out, states);
}
// Calculate the Integral
void ANTI_SLIP_FUZZY_CONTROL::get_integral(bool enable){ // Calculate the state_int
    //
    // Calculate the sys_outputs
    get_sys_outputs();

    // Integral action
    // state_int += sys_outputs - command
    if (enable){
        Get_VectorIncrement(state_int, Get_VectorScalarMultiply(Get_VectorPlus(sys_outputs,command,true),Ts) ,false); // +=
    }else{
        state_int = zeros_q;
    }
}
// Concatenate the state and state_int
void ANTI_SLIP_FUZZY_CONTROL::get_state_total(void){ // Total states, [states; state_int]
    //
    size_t idx = 0;
    // states
    for (size_t i = 0; i < n; ++i){
        state_total[idx] = states[i];
        idx++;
    }
    // state_int
    for (size_t i = 0; i < q; ++i){
        state_total[idx] = state_int[i];
        idx++;
    }
}

// Utilities
void ANTI_SLIP_FUZZY_CONTROL::Mat_multiply_Vec(vector<float> &v_out, const vector<vector<float> > &m_left, const vector<float> &v_right){ // v_out = m_left*v_right

    // Size check
    if (v_out.size() != m_left.size()){
        v_out.resize(m_left.size());
    }

    /*
    // Iterators
    static vector<float>::iterator it_out;
    static vector<float>::iterator it_m_row;
    static vector<float>::iterator it_v;

    //
    it_out = v_out.begin();
    for (size_t i = 0; i < m_left.size(); ++i){
        *it_out = 0.0;
        it_m_row = vector<vector<float> >(m_left)[i].begin();
        it_v = vector<float>(v_right).begin();
        for (size_t j = 0; j < m_left[i].size(); ++j){
            // *it_out += m_left[i][j] * v_right[j];
            if (*it_m_row != 0.0 && *it_v != 0.0){
                (*it_out) += (*it_m_row) * (*it_v);
            }else{
                // (*it_out) += 0.0
            }
            // (*it_out) += (*it_m_row) * (*it_v);
            //
            it_m_row++;
            it_v++;
        }
        it_out++;
    }
    */

    // Indexing
    for (size_t i = 0; i < m_left.size(); ++i){
        //
        v_out[i] = 0.0;
        //
        for (size_t j = 0; j < v_right.size(); ++j){
            if (m_left[i][j] != 0.0 && v_right[j] != 0.0)
                v_out[i] += m_left[i][j]*v_right[j];
        }
    }

}
vector<float> ANTI_SLIP_FUZZY_CONTROL::Mat_multiply_Vec(const vector<vector<float> > &m_left, const vector<float> &v_right){ // v_out = m_left*v_right
    vector<float> v_out;
    // Size check
    if (v_out.size() != m_left.size()){
        v_out.resize(m_left.size());
    }

    /*
    // Iterators
    static vector<float>::iterator it_out;
    static vector<const float>::iterator it_m_row;
    static vector<const float>::iterator it_v;
    //
    it_out = v_out.begin();
    for (size_t i = 0; i < m_left.size(); ++i){
        *it_out = 0.0;
        it_m_row = m_left[i].begin();
        it_v = v_right.begin();
        for (size_t j = 0; j < m_left[i].size(); ++j){
            // *it_out += m_left[i][j] * v_right[j];
            if (*it_m_row != 0.0 && *it_v != 0.0){
                (*it_out) += (*it_m_row) * (*it_v);
            }else{
                // (*it_out) += 0.0
            }
            // (*it_out) += (*it_m_row) * (*it_v);
            //
            it_m_row++;
            it_v++;
        }
        it_out++;
    }
    */

    // Indexing
    for (size_t i = 0; i < m_left.size(); ++i){
        //
        v_out[i] = 0.0;
        //
        for (size_t j = 0; j < v_right.size(); ++j){
            if (m_left[i][j] != 0.0 && v_right[j] != 0.0)
                v_out[i] += m_left[i][j]*v_right[j];
        }
    }

    return v_out;
}
vector<float> ANTI_SLIP_FUZZY_CONTROL::Get_VectorPlus(const vector<float> &v_a, const vector<float> &v_b, bool is_minus) // v_a + (or -) v_b
{
    static vector<float> v_c;
    // Size check
    if (v_c.size() != v_a.size()){
        v_c.resize(v_a.size());
    }
    //
    for (size_t i = 0; i < v_a.size(); ++i){
        if (is_minus){
            v_c[i] = v_a[i] - v_b[i];
        }else{
            v_c[i] = v_a[i] + v_b[i];
        }
    }
    return v_c;
}
vector<float> ANTI_SLIP_FUZZY_CONTROL::Get_VectorScalarMultiply(const vector<float> &v_a, float scale) // scale*v_a
{
    static vector<float> v_c;
    // Size check
    if (v_c.size() != v_a.size()){
        v_c.resize(v_a.size());
    }
    // for pure negative
    if (scale == -1.0){
        for (size_t i = 0; i < v_a.size(); ++i){
            v_c[i] = -v_a[i];
        }
        return v_c;
    }
    // else
    for (size_t i = 0; i < v_a.size(); ++i){
        v_c[i] = scale*v_a[i];

    }
    return v_c;
}
// Increment
void ANTI_SLIP_FUZZY_CONTROL::Get_VectorIncrement(vector<float> &v_a, const vector<float> &v_b, bool is_minus){ // v_a += (or -=) v_b
    // Size check
    if (v_a.size() != v_b.size()){
        v_a.resize(v_b.size());
    }
    //
    if (is_minus){ // -=
        for (size_t i = 0; i < v_b.size(); ++i){
            v_a[i] -= v_b[i];
        }
    }else{ // +=
        for (size_t i = 0; i < v_b.size(); ++i){
            v_a[i] += v_b[i];
        }
    }

}