OdeDyn1.m

clear all; close all; clc; 

xinit = [0;0;0;0;0;0;0;pi/2;0;0;0;0;0;0;0;0];
% tspan = linspace(t1,t2,n);
tspan = 0:.1:100;
% options = odeset('RelTol',1e-5,'Stats','on','OutputFcn',@odeplot);
[t,xt] = ode45('Dyn1',tspan,xinit);

% x_des = [0 0 2 0 0 0 0 0]';

x_telta1 = abs(xt(:,1));
x_telta2 = abs(xt(:,2));
[a,b] = size(xt);
x_telta3 = abs(4*ones(1,b)-xt(:,3));
% plot(t,x_telta1,t,x_telta2,t,x_telta3)


subplot(2,2,1)
plot(t,abs(xt(:,1)),'b');
xlabel('t');
ylabel('m');
title('x position')


subplot(2,2,2)
plot(t,abs(xt(:,2)),'b');
xlabel('t');
ylabel('m');
title('y-position')


subplot(2,2,3)
p = plot(t,x_telta3,'b');
p(1).LineWidth = 1;
xlabel('t');
ylabel('m');
title('z-position');

subplot(2,2,4)
plot(t,abs(xt(:,4)),'b');
xlabel('t');
ylabel('rad');
title('yaw');