Add WingRock model (fixedwings)

Project.toml

@@ -1,7 +1,7 @@
 name = "FSimZoo"
 uuid = "e2d5807d-1594-43f7-91a6-54c6eef5a9d2"
 authors = ["JinraeKim <kjl950403@gmail.com> and contributors"]
-version = "0.8.0"
+version = "0.9.0"
 
 [deps]
 ComponentArrays = "b0b7db55-cfe3-40fc-9ded-d10e2dbeff66"

README.md

@@ -19,6 +19,13 @@ contains predefined environments and controllers for [FlightSims.jl](https://git
 
  </details>
 
+ <details>
+ <summary>fixed wings</summary>
+
+ - `WingRock`
+
+ </details>
+
  <details>
  <summary>multicopters</summary>
 

src/FSimZoo.jl

@@ -18,6 +18,8 @@ export TwoDimensionalNonlinearDTSystem
 export LQR, PID, BacksteppingPositionController
 export GeometricTrackingController, OuterLoopGeometricTrackingController, InnerLoopGeometricTrackingController
 export InputAffinePositionCBF
+## fixedwings
+export WingRock
 ## multicopters
 export Multicopter
 export Quadcopter, IslamQuadcopter, GoodarziQuadcopter, LeeQuadcopter, GoodarziAgileQuadcopter

src/environments/environments.jl

@@ -2,6 +2,9 @@
 ## Basic environments
 include("basics/basics.jl")
 
+## Fixed wings
+include("fixedwings/fixedwings.jl")
+
 ## Multicopters
 include("multicopters/multicopters.jl")
 

src/environments/fixedwings/fixedwings.jl

@@ -0,0 +1 @@
+include("wingrock.jl")

src/environments/fixedwings/wingrock.jl

@@ -0,0 +1,39 @@
+"""
+Wing-rock phenomenon in the roll motion of slendar delta wings [1].
+
+# Notes
+## Nondimensional values
+The time, state, and control input of this model are nondimensional [2].
+
+## Ideal parameters
+The default ideal parameters, W_true, are set as the specific model obtained at the angle of attack of 25 degrees in [1].
+Note that the ideal parameters in [2] are (1000 x the ideal parameters in [1]).
+
+# Refs
+[1] J. M. Elzebda, A. H. Nayfeh, and D. T. Mook, “Development of an analyt- ical model of wing rock for slender delta wings,” J. Aircr., vol. 26, no. 8, pp. 737–743, 1989.
+[2] N. Cho, H.-S. Shin, Y. Kim, and A. Tsourdos, “Composite Model Reference Adaptive Control with Parameter Convergence Under Finite Excitation,” IEEE Trans. Automat. Contr., vol. 63, no. 3, pp. 811–818, Mar. 2018, doi: 10.1109/TAC.2017.2737324.
+"""
+Base.@kwdef struct WingRock <: AbstractEnv
+ W_true = 1e-3 * [-18.59521, 15.162375, -62.45153, 9.54708, 21.45291]
+end
+
+
+function State(env::WingRock)
+ return function (x1=0.0, x2=0.0)
+ ComponentArray(x1=x1, x2=x2)
+ end
+end
+
+
+function Dynamics!(env::WingRock)
+ (; W_true) = env
+ @Loggable function dynamics!(dx, x, p, t; u)
+ (; x1, x2) = x
+ @log state = x
+ @log input = u
+ ϕ = [x1, x2, abs(x1)*x2, abs(x2)*x2, x1^3]
+ Δ = W_true' * ϕ
+ dx.x1 = x2
+ dx.x2 = u + Δ
+ end
+end

test/environments/environments.jl

@@ -0,0 +1 @@
+include("fixedwings/fixedwings.jl")

test/environments/fixedwings/fixedwings.jl

@@ -0,0 +1 @@
+include("wingrock.jl")

test/environments/fixedwings/wingrock.jl

@@ -0,0 +1,20 @@
+using FSimZoo
+using Test
+using FSimBase
+
+
+function main()
+ t = 0.0
+ W_true = rand(5)
+ env = WingRock(W_true)
+ x1, x2 = rand(2)
+ X = State(env)(x1, x2)
+ u = 0.0
+ dX = deepcopy(X)
+ Dynamics!(env)(dX, X, [], t; u=u)
+end
+
+
+@testset "wingrock" begin
+ main()
+end

test/runtests.jl

@@ -5,4 +5,5 @@ using Test
  include("geometric_tracking.jl")
  include("geometric_tracking_inner_outer.jl")
  include("cbf.jl")
+ include("environments/environments.jl")
 end