rov_nl_pid_controller.ROV_NLPIDController Class Reference

Inheritance diagram for rov_nl_pid_controller.ROV_NLPIDController:

Public Member Functions
def	__init__ (self)
def	update_controller (self)

Private Member Functions
def	_reset_controller (self)

Private Attributes
	_accel_ff
	_Hm
	_is_init
	_pid_control
	_tau

Static Private Attributes
string	_LABEL = 'MIMO Nonlinear PID Controller with Acceleration Feedback'

Detailed Description

MIMO Nonlinear PID controller with acceleration feedback for the dynamic
positioning of underwater vehicles.

References
----------

- Fossen, Thor I. Handbook of Marine Craft Hydrodynamics and Motion
Control (April 8, 2011).

Definition at line 23 of file rov_nl_pid_controller.py.

Constructor & Destructor Documentation

def rov_nl_pid_controller.ROV_NLPIDController.__init__

(

self

)

Definition at line 36 of file rov_nl_pid_controller.py.

Member Function Documentation

def rov_nl_pid_controller.ROV_NLPIDController._reset_controller (   self )

private

Definition at line 56 of file rov_nl_pid_controller.py.

def rov_nl_pid_controller.ROV_NLPIDController.update_controller

(

self

)

Definition at line 61 of file rov_nl_pid_controller.py.

Member Data Documentation

rov_nl_pid_controller.ROV_NLPIDController._accel_ff

private

Definition at line 50 of file rov_nl_pid_controller.py.

rov_nl_pid_controller.ROV_NLPIDController._Hm

private

Definition at line 40 of file rov_nl_pid_controller.py.

rov_nl_pid_controller.ROV_NLPIDController._is_init

private

Definition at line 53 of file rov_nl_pid_controller.py.

string rov_nl_pid_controller.ROV_NLPIDController._LABEL = 'MIMO Nonlinear PID Controller with Acceleration Feedback'

staticprivate

Definition at line 34 of file rov_nl_pid_controller.py.

rov_nl_pid_controller.ROV_NLPIDController._pid_control

private

Definition at line 52 of file rov_nl_pid_controller.py.

rov_nl_pid_controller.ROV_NLPIDController._tau

private

Definition at line 48 of file rov_nl_pid_controller.py.

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

• rov_nl_pid_controller.py