execution.uuv.control

Class SlidingModeWaypointController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.WaypointController

execution.uuv.control.SlidingModeWaypointController

public class SlidingModeWaypointController
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
SlidingModeWaypointController(UuvExecution execution) Creates a new instance of SlidingModeWaypointController

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

SlidingModeWaypointController

public SlidingModeWaypointController(UuvExecution execution)

Creates a new instance of SlidingModeWaypointController

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