A simple controller for line following of sailboats
نویسنده
چکیده
This paper proposes a simple controller for sailboat robots. The resulting controller is simple to implement and its parameters are easy to tune. Its complexity is low enough to be applicable for sailing robots with very limited computation power. The presentation contains all the necessary details to allow a fast and reliable implemention of a sailbot robot controller which follows a line. The paper also presents a simple collision avoidance strategy based on interval analysis.
منابع مشابه
Solving Path Following Problem for Car-Like Robot in the Presence of Sliding Effect via LMI Formulation
One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...
متن کاملA Controller Design with ANFIS Architecture Attendant Learning Ability for SSSC-Based Damping Controller Applied in Single Machine Infinite Bus System
Static Synchronous Series Compensator (SSSC) is a series compensating Flexible AC Transmission System (FACTS) controller for maintaining to the power flow control on a transmission line by injecting a voltage in quadrature with the line current and in series mode with the line. In this work, an Adaptive Network-based Fuzzy Inference System controller (ANFISC) has been proposed for controlling o...
متن کاملVibration Suppression of Simply Supported Beam under a Moving Mass using On-Line Neural Network Controller
In this paper, model reference neural network structure is used as a controller for vibration suppression of the Euler–Bernoulli beam under the excitation of moving mass travelling along a vibrating path. The non-dimensional equation of motion the beam acted upon by a moving mass is achieved. A Dirac-delta function is used to describe the position of the moving mass along the beam and its iner...
متن کاملDynamic Stabilization of Wind Farms Deploying Static Synchronous Series Compensator
Encountering series-compensated transmission lines, sub-synchronous resonance (SSR) may strike the power system by jeopardizing its stability and mechanical facilities. This paper aims to verify the capability of static synchronous series compensator (SSSC) in mitigating the mechanical and electrical oscillations such as SSR in wind farm integrations. A wind turbine with a self–excited inductio...
متن کاملDesign On-Line Tunable Gain Artificial Nonlinear Controller
One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2012