execution.uuv.control

Class LQRWaypointController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.WaypointController

execution.uuv.control.LQRWaypointController

public class LQRWaypointController
extends WaypointController

Author:

dtdavis

Field Summary

Fields inherited from class execution.uuv.control.WaypointController

cumulativeTurn, MAXSPDTURNRADIUS, newWaypoint, previousPsi

Fields inherited from class execution.uuv.control.UuvController

alongTrackRange, bowLateralThrusterCommand, bowVerticalThrusterCommand, correctToTrack, crossTrackError, depthError, depthErrorIntegral, depthPidTime, MAXDEPTHERROR, offTrackAngleDegrees, openLoopHeading, pdOnlyTime, portPropellerCommand, psiCommand, psiError, rudderCommand, speedControlReset, speedError, stbdPropellerCommand, sternLateralThrusterCommand, sternVerticalThrusterCommand, thetaCommand, THRUSTCONVERSION, turningRpm, uuvExecution, zCommand

Constructor Summary

Constructors

Constructor and Description
LQRWaypointController(UuvExecution execution) Creates a new instance of LQRWaypointController

Method Summary

Modifier and Type	Method and Description
void	computeRudderCommands() Computes the rudder setting using sliding mode control (thruster still uses PD)

Methods inherited from class execution.uuv.control.WaypointController

computeControls, readControls

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, getThetaCommand, isClosedLoopSpeed, setCommandedSpeed, setControls, setPropellersRPM, unsetClosedLoopSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

LQRWaypointController

public LQRWaypointController(UuvExecution execution)

Creates a new instance of LQRWaypointController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeRudderCommands

public void computeRudderCommands()

Computes the rudder setting using sliding mode control (thruster still uses PD)

Overrides:

computeRudderCommands in class UuvController