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odefin.m
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function dx = odefin(t,x,bf)
dx = zeros(7,1);
%%% PLANET PARAMS %%%
g = [0 0 -3.7114]';
ge = 9.807;
%%% LANDER TC %%%
rd = [0 0 0]';
vd = [0 0 0]';
tf = 100;
tgo = tf - t;
%%% THRUST PARAMS %%%
Isp = 226;
%%% BARRIER AND AUG TERMS CONSTS %%%
if bf == 1
k0 = [0;0;0];
k1 = [0.17;0.17;0.17]*1000;
k2 = [0;0;1];
k3 = [6;6;6];
rho3 = k2(3);
elseif bf == 2
k0 = [0;0;0];
k1 = [1.5;1.5;1.5];
k2 = [0;0;1];
k3 = [1;1;1];
rho3 = k2(3);
elseif bf == 3
if x(3) > 200
k0 = [300;300;300];
k1 = [178;178;178];
k2 = [-200;-200;1];
k3 = [6;6;6];
else
k0 = [0;0;0];
k1 = [231;231;231];
k2 = [0;0;1];
k3 = [20;20;20];
end
rho3 = k2(3);
elseif bf == 4
if (x(3) > 200)
k0 = 0*ones(3,1);
k1 = 300*ones(3,1);
k2 = [-200;-200;201];
k3 = 1*ones(3,1);
else
k0 = [0;0;0];
k1 = [230;230;230];
k2 = [0;0;1];
k3 = [20;20;20];
end
if (x(3) > 200) && (norm([x(1) x(2)]) > 300)
rho3 = 201;
elseif (x(3) > 200) && (norm([x(1) x(2)]) < 300)
rho3 = 1;
else
rho3 = 1;
end
elseif bf == 5
if x(3) > 1500
k0 = -1000*ones(3,1);
k1 = 300*ones(3,1);
k2 = [-1500;-1500;1501];
k3 = ones(3,1);
elseif ((x(3) <= 1500) && (x(3) > 1000))
k0 = 600*ones(3,1);
k1 = 142*ones(3,1);
k2 = [-1000;-1000;1001];
k3 = 6*ones(3,1);
else
k0 = zeros(3,1);
k1 = 426*ones(3,1);
k2 = zeros(3,1);
k3 = 20*ones(3,1);
end
if (x(3) > 1500) && (norm([x(1) x(2)]) > 1000)
rho3 = 1501;
elseif ((x(3)<=1500) && (x(3) > 1000)) && ((norm([x(1) x(2)]) > 600) && (norm([x(1) x(2)]) <= 1000))
rho3 = 1001;
elseif ((x(3) <= 1000))
rho3 = 1;
else
rho3 = 1;
end
end
l1 = [1;1;1];
l2 = [2;2;2];
l4 = 400*ones(3,1);
%%% BARRIER DEFN %%%
if x(1) >=0
rho1 = ((k1(1)*((x(3) + k2(1))^(1/k3(1)))) + k0(1));
else
rho1 = -((k1(1)*((x(3) + k2(1))^(1/k3(1)))) + k0(1));
end
if x(2) >=0
rho2 = ((k1(2)*((x(3) + k2(2))^(1/k3(2)))) + k0(2));
else
rho2 = -((k1(2)*((x(3) + k2(2))^(1/k3(2)))) + k0(2));
end
%%% DIST FROM BARRIER %%%
s1 = x(1) - rho1;
s2 = x(2) - rho2;
s3 = x(3) - rho3;
d1 = abs(s1);
d2 = abs(s2);
d3 = abs(s3);
%%% AUGMENTATION %%%
phi1 = l2(1)/(d1^2 + l1(1));
phi2 = l2(2)/(d2^2 + l1(2));
phi3 = l2(3)/(d3^2 + l1(3));
b1 = exp(-phi1);
b2 = exp(-phi2);
b3 = exp(-phi3);
%%% ZEM/ZEV %%%
r = [x(1) x(2) x(3)]';
v = [x(4) x(5) x(6)]';
ZEM = rd - (r + v*tgo + 0.5*g*tgo^2);
ZEV = vd - (v + g*tgo);
%%% THRUST GENERATION %%%
%%% NEW OGL %%%
p1 = (-2*sign(s1)*d1*l2(1)*l4(1)*b1)/(d1^2 + l1(1))^2;
p2 = (-2*sign(s2)*d2*l2(2)*l4(2)*b2)/(d2^2 + l1(2))^2;
p3 = (-2*sign(s3)*d3*l2(3)*l4(3)*b3)/(d3^2 + l1(3))^2;
p = [p1; p2; p3];
a = ((6*ZEM/tgo^2) - (2*ZEV/tgo) - (p/18)*(tgo^2));
T = a*x(7);
Tmax = 25000;
for i=1:3
T(i) = min(max(T(i), -0.8*Tmax), 0.8*Tmax);
end
%%% ORIGINAL OGL %%%
% A = [0 0 1]';
% del = 1;
% phi = del^2/3;
% c = 500;
% a_av = A*c*(r(3)^2 - phi)*(tgo^2)/(24*(r(3)^2 + phi)^2);
% a = ((6*ZEM/tgo^2) - (2*ZEV/tgo) + a_av);
%
% T = a*x(7);
%%% ATM PERTURB %%%
% ap = 0.1*(T./x(7))*sin(pi*t/3);
ap = [0;0;0];
%%% ODE EQNS %%%
dx(1) = x(4);%x
dx(2) = x(5);%y
dx(3) = x(6);%z
dx(4) = g(1) + T(1)/x(7) + ap(1);%vx
dx(5) = g(2) + T(2)/x(7) + ap(2);%vy
dx(6) = g(3) + T(3)/x(7) + ap(3);%vz
dx(7) = -norm(T)/(Isp*norm(ge));%m
end