├── LICENSE.md ├── PWM_sample.m ├── README.md ├── data_sensitivity_analysis.mat ├── fault_thr10_Dynamic_Programming.m ├── fault_thr2_Dynamic_Programming.m ├── fault_thr4_Dynamic_Programming.m ├── fault_thr9_Dynamic_Programming.m ├── fault_thr9_Dynamic_Programming_uncertainties.m ├── figures ├── CW equations.png ├── PID25m.png ├── Quad Prog.png ├── SPHERES-config │ ├── Table.png │ ├── geometry.png │ └── single-channel.png ├── Simulation.jpg ├── Xdiff-long-optimized-.png ├── Xdiff-long.png ├── Xdiff.png ├── log_mesh_of_one_state.png ├── log_mesh_of_two_states.png ├── position attitude control │ ├── PWPF modulator.png │ ├── PWPFtuning │ │ ├── feedback06.png │ │ └── feedback1.png │ ├── Thruster combinations F,M.png │ ├── normal - Manual allocation │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ ├── normal - pwpf continuous │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ ├── pwpf linear - linear - dual fault 06 │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ ├── pwpf linear - linear - fault 0 │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ ├── pwpf linear - linear - fault 7 │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ ├── pwpf linear - linear - three channels fault 1911 │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ ├── pwpf linear - linear - two channels fault 69 │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── controller - att.png │ │ ├── controller - pos.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png │ └── thr10 faulty - no allocation │ │ ├── Force Moments.png │ │ ├── Thrusters.png │ │ ├── states- q.png │ │ ├── states- v.png │ │ ├── states- w.png │ │ └── states- x.png └── reference frame.png ├── fit_reference_model_attitude.m ├── fit_reference_model_position.m ├── generate_controller ├── controller │ ├── controller_DP_attposition_fault_thr10.mat │ ├── controller_DP_attposition_fault_thr11.mat │ ├── controller_DP_attposition_fault_thr2.mat │ ├── controller_DP_attposition_fault_thr4.mat │ ├── controller_DP_attposition_fault_thr9.mat │ ├── controller_normal_DynamicProgramming_c.mat │ ├── controller_normal_DynamicProgramming_for_plot.mat │ ├── controller_normal_DynamicProgramming_no_modulation.mat │ ├── test_surface.m │ ├── test_surface_gray.m │ ├── test_surface_gray_hatchd.m │ └── test_surface_with_quivers.m ├── generate_DP_4variable_controller.m ├── generate_DP_ForceMoment_controller.m └── generate_PD_controller.m ├── misc ├── Optimize_PID_PWPF_parameters.m ├── Optimize_PID_PWPF_parameters_fault.m ├── Optimize_PID_parameters.m ├── Optimize_PWPFparams_DPcontrol.m ├── Optimize_PWPFparams_DPcontrol_fault_thr0.m ├── Optimize_PWPFparams_PIDcontrol.m ├── Optimize_fault_PWPF_parameters.m ├── Optimize_fault_PWPF_parameters_linear.m ├── calc_derivs.mlx ├── calc_switching_vars.mlx ├── closedist_normal_PD_controller_activeset.m ├── closedist_normal_PWPF_allocation.m ├── closedist_normal_activeset_allocation.m ├── closedist_normal_no_allocation.m ├── fault0_PD_controller_pwpf.m ├── fault0_pwpf_allocation.m ├── final_run.m ├── generate_controller_closedist_normal.m ├── generate_controller_continuous.m ├── generate_controller_longdist_normal.m ├── longdist_fault_activeset_allocation.m ├── longdist_normal_PD_controller_activeset.m ├── longdist_normal_activeset_allocation.m ├── normal_DynamicProgrammingat10.m ├── normal_PD_controller_activeset.m ├── normal_PD_controller_pwpf.m ├── normal_activeset_allocation.m ├── normal_pwpf_allocation.m ├── simulations_fault_thr0.m ├── simulations_no_fault.m └── test_run.m ├── montcarloData.mat ├── monte_carlo_thr9_fault.m ├── normal_DP_Lyap_compare_with_pulse_modulation_identical_ts.m ├── normal_DP_Lyap_compare_with_pulse_modulation_identical_ts_3pos.asv ├── normal_DP_Lyap_compare_with_pulse_modulation_identical_ts_3pos.m ├── normal_DynamicProgramming_with_pulse_modulation.m ├── normal_DynamicProgramming_without_pulse_modulation.m ├── normal_Lyapunov_Simulation.m ├── plot_optimal_policies.m ├── run_comparison.m ├── sensitivity_analysis_DP_Lyap.m └── simulator ├── PWPF_c.m ├── Schmitt_trigger_c.m ├── Simulator_CW.m ├── Simulator_CW_uncertainties.m ├── Simulator_Lyapunov.m ├── functions ├── DP_4var_one_channel_U_Opt.m ├── DP_TW_one_channel_U_Opt.m ├── DP_XV_one_channel_U_Opt.m ├── DP_XV_one_channel_U_Opt_visualization.m ├── custom_colormap_gray.m ├── mesh_state.m ├── mesh_state_log.m ├── mesh_states_4var.m ├── mrp2quat.m ├── plot_compare_DPlyap.m └── plot_compare_DPlyap_3initial_positions.m ├── models ├── Copy_of_SPHERES_lyapnov_model_pulse_modulation.slx ├── SPHERES_lyapnov_model.slx ├── SPHERES_lyapnov_model_pulse_modulation.slx ├── SPHERES_lyapnov_model_pulse_modulation_for_Sensitivity.slx ├── SPHERES_lyapnov_model_pulse_modulation_for_plots.slx ├── SPHERES_lyapnov_model_pulse_modulation_switching_tables.slx ├── reference_model_for_fit.slx └── reference_model_for_fit_attitude.slx ├── private ├── all_feasible_thruster_u.m ├── all_feasible_thruster_u_QP.m ├── fDot_and_gDot.m ├── f_and_g.m ├── get_target_R0V0.m ├── manual_allocation_logic.m ├── manual_allocation_logic_fault_one.m ├── plot_plane.m ├── plot_plane_new.m ├── plot_results.m ├── plot_results_export.m ├── plot_results_export_case_4.m ├── plot_results_export_case_9.m ├── quat_eul.m ├── stumpC.m ├── stumpS.m └── update_RV_target.m └── test ├── PWPFmodel ├── PWPF_acc_data.m ├── PWPF_model.slx ├── Schmitt_fun_embedded.m ├── schmitt_only.m └── sigTSinterpd.mat └── test_control_aloc_linsolve.m /LICENSE.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/abdolrezat/SPHERES-DPcontrol/HEAD/LICENSE.md -------------------------------------------------------------------------------- /PWM_sample.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/abdolrezat/SPHERES-DPcontrol/HEAD/PWM_sample.m -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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