mirror of
https://gitlab.com/lander-team/lander-sim.git
synced 2025-08-02 11:21:27 +00:00
25 lines
517 B
Matlab
25 lines
517 B
Matlab
function [K] = calcLQR(I)
|
|
Q = eye(6) * I(3, 3);
|
|
Mu = 398600;
|
|
r0 = [6678; 0; 0];
|
|
|
|
k1 = (I(2,2) - I(3,3)) / I(1,1);
|
|
k2 = (I(1,1) - I(3,3)) / I(2,2);
|
|
k3 = (I(2,2) - I(1,1)) / I(3,3);
|
|
|
|
n = sqrt(Mu/(norm(r0)^3));
|
|
|
|
F = -2 * n^2 * [4 * k1, 0, 0; 0, 3 * k2, 0; 0, 0, k3];
|
|
G = n * [0, 0, (1 - k1); 0, 0, 0; (k3 - 1), 0, 0];
|
|
|
|
Iinv = [1 / I(1,1), 0, 0; 0, 1 / I(2,2), 0; 0, 0, 1 / I(3,3)];
|
|
|
|
A = [zeros(3,3), 0.5 * eye(3); F, G];
|
|
B = [zeros(3,3); Iinv];
|
|
|
|
R = eye(3)*10^-6;
|
|
Rinv = R^-1;
|
|
|
|
S = icare(A, B, Q, R);
|
|
|
|
K = Rinv * B' * S; |