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Again, this is made by different function. I used for a while Kevin CPS but then I modified something in the projection to have it correctly. Also care that in Kevin CPS folder you will find the old .txt file with just 10 point, but to have a better projection you need a larger number of points.
STEP OF THE LAB PROJECT
Part 1 - Model Identification
Giving a constant value of PWM (input of the system) to brainstem I measured the speed of the car (output of the system). The identified transfer function has a gain (about 2.5) and a pole (0.375). Consider that:
1. These values can change between to experiments, but you can consider the variations as a disturbance on the system.
2. The experiment has to be done when the car is running ON THE FLOOR, so you are considering the real behavior. Don't do it leaving the wheels running free.
Part 2 - Design of the trajectory tracking control
Starting from the identified transfer function and knowing the desired behavior of the car, I designed a controller so that the car can follow the desired trajectory and the disturbances on the car are attenuated. You can find the coefficients of the controller inside the C code, you can try to change them BUT please do some good simulation first.
Part 3 - C code and results
I tested the controller and the solution of the scheduling problem with three cars. The results are consistent but the performances are not so high. This can be due to a lot of things:
1. The system identified is really simple and is not even close to a model of a real car.
2. We have measurement errors, projection errors and the floor is not perfect.
3. The PWM (input) is limited, so you cannot have a more strong controller with higher performances.
WHAT IS NEXT
To have a real experiment, the algorithm should use the trajectory tracking control only when the supervisor is acting. During the safe time, the state of the car should be estimated online from a model and the measurement made. This is not trivial because the CPS can't measure the speed, that is just an estimation from the projected position; moreover the model used to predict the state of the car should be quite precise.