TUHH-ICS/2022-code-TAC-Robust-Performance-Analysis-of-Source-seeking-Dynamics-with-Integral-Quadratic-Constra

Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints

General

This repository contains the simulation code to reproduce the tables and figures presented in

A. Datar and C. Hespe and H. Werner, "Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints", 2022 (in preparation)

The code has the following 7 entry points:

1. Quadrotor robustness analysis (corresponding to Fig.5 from the paper): quadrotor_robustness\main_quadrotor_example.m
2. Non-minimum phase example robustness analysis (corresponding to Fig.6 from the paper): non_minimum_phase_example\main_non_minimum_phase_example.m
3. LPV examples robustness analysis (corresponding to Fig.7 and Fig.8): LPV_Uncertain_system_example\main_LPV_example.m
4. Robustness analysis under formation control(corresponding to Fig.9): formation_source_seek\Example1\main_1.m
5. Robustness analysis under formation control with unknown spectrum (corresponding to Fig.10): formation_source_seek\Example2\main_2.m
6. Robustness analysis under flocking dynamics: flocking_analysis\analyze_flocking_with_LMIs.m
7. Simulation trajectories under flocking dynamics (corresponding to Fig.11): flocking_analysis\Simulation.m

These will produce among others the material presented in the paper.

Prerequisites

To run the simulation files, some additional packages need to be installed first.

1. Install CVX
2. For the flocking simulation (item 7 above), a simulation library (found on Github) needs to be imported which can be done by running

git submodule update --init

The simulation code in this repository was tested in the following environment:

• Windows 10 Pro Version 20H2
• Matlab 2021a