execution.uuv.control

Class LQRLoiterController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.LoiterController

execution.uuv.control.LQRLoiterController

public class LQRLoiterController
extends LoiterController

Author:

dtdavis

Field Summary

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
LQRLoiterController(UuvExecution execution) Creates a new instance of LQRLoiterController

Method Summary

Methods

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.LoiterController

computeControls

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, getThetaCommand, isClosedLoopSpeed, readControls, 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

LQRLoiterController

public LQRLoiterController(UuvExecution execution)

Creates a new instance of LQRLoiterController

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