rov_nmb_sm_controller.ROV_NMB_SMController Class Reference

Inheritance diagram for rov_nmb_sm_controller.ROV_NMB_SMController:

Public Member Functions
def	__init__ (self)
def	get_sm_controller_params_callback (self, request)
def	set_sm_controller_params_callback (self, request)
def	update_controller (self)

Static Public Member Functions
def	sat (value, epsilon=0.5)

Private Member Functions
def	_reset_controller (self)

Private Attributes
	_first_pass
	_is_init
	_K
	_Kd
	_Ki
	_prev_sign_sn_angular_b
	_prev_sign_sn_linear_b
	_prev_t
	_s_angular_b_init
	_s_linear_b_init
	_sat_epsilon
	_slope
	_summ_sign_sn_angular_b
	_summ_sign_sn_linear_b
	_t_init
	_tau

Static Private Attributes
string	_LABEL = 'Model-free Sliding Mode Controller'

Detailed Description

Model-free sliding mode controller based on the work published in [1] and
[2], or model-free high order sliding mode controller.

[1] Garcia-Valdovinos, Luis Govinda, et al. "Modelling, design and robust
    control of a remotely operated underwater vehicle." International
    Journal of Advanced Robotic Systems 11.1 (2014): 1.
[2] Salgado-Jimenez, Tomas, Luis G. Garcia-Valdovinos, and Guillermo
    Delgado-Ramirez. "Control of ROVs using a Model-free 2nd-Order Sliding
    Mode Approach." Sliding Mode Control (2011): 347-368.

Definition at line 22 of file rov_nmb_sm_controller.py.

Constructor & Destructor Documentation

def rov_nmb_sm_controller.ROV_NMB_SMController.__init__

(

self

)

Definition at line 37 of file rov_nmb_sm_controller.py.

Member Function Documentation

def rov_nmb_sm_controller.ROV_NMB_SMController._reset_controller (   self )

private

Definition at line 119 of file rov_nmb_sm_controller.py.

def rov_nmb_sm_controller.ROV_NMB_SMController.get_sm_controller_params_callback	(		self,
			request
	)

Definition at line 135 of file rov_nmb_sm_controller.py.

def rov_nmb_sm_controller.ROV_NMB_SMController.sat (   value,   epsilon = 0.5  )

static

Definition at line 204 of file rov_nmb_sm_controller.py.

def rov_nmb_sm_controller.ROV_NMB_SMController.set_sm_controller_params_callback	(		self,
			request
	)

Definition at line 132 of file rov_nmb_sm_controller.py.

def rov_nmb_sm_controller.ROV_NMB_SMController.update_controller

(

self

)

Definition at line 142 of file rov_nmb_sm_controller.py.

Member Data Documentation

rov_nmb_sm_controller.ROV_NMB_SMController._first_pass

private

Definition at line 40 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._is_init

private

Definition at line 116 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._K

private

Definition at line 46 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._Kd

private

Definition at line 48 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._Ki

private

Definition at line 50 of file rov_nmb_sm_controller.py.

string rov_nmb_sm_controller.ROV_NMB_SMController._LABEL = 'Model-free Sliding Mode Controller'

staticprivate

Definition at line 35 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._prev_sign_sn_angular_b

private

Definition at line 103 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._prev_sign_sn_linear_b

private

Definition at line 102 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._prev_t

private

Definition at line 125 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._s_angular_b_init

private

Definition at line 43 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._s_linear_b_init

private

Definition at line 42 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._sat_epsilon

private

Definition at line 93 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._slope

private

Definition at line 52 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._summ_sign_sn_angular_b

private

Definition at line 100 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._summ_sign_sn_linear_b

private

Definition at line 99 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._t_init

private

Definition at line 41 of file rov_nmb_sm_controller.py.

rov_nmb_sm_controller.ROV_NMB_SMController._tau

private

Definition at line 105 of file rov_nmb_sm_controller.py.

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The documentation for this class was generated from the following file:

• rov_nmb_sm_controller.py