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| Natura: | Artículo científico |
| Lingua: | en |
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Universidad Nacional Autónoma de México
2010
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| Accesso online: | https://www.redalyc.org/articulo.oa?id=47415823002 |
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| _version_ | 1866558102567911424 |
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| author | Juan Manuel Rendón-Mancha |
| author_facet | Juan Manuel Rendón-Mancha |
| contents | A new experimental ground vehicle with hybrid control and hybrid vision sensor Juan Manuel Rendón-Mancha Guillaume Sanahuja Pedro Castillo Rogelio Lozano Ingeniería laser computer vision Nonlinear control saturation functions experimental platform This paper presents a new hybrid control algorithm based on saturation functions and its real-time application to a ground vehicle. The hybrid control is developed from a nonlinear continuous control law and the objective is to obtain the optimal sampling period T to apply the controller in real experiences. The stability analysis was made in discrete time. The experimental platform is composed of a remote control toy car and a vision system. The vision system is built using a simple webcam and a diode laser. This system is fast, accurate, inexpensive and easy to implement. Simulations and experiments show the stability and robustness of the closed-loop system. The proposed control law performance is compared with a linear control algorithm. 2010 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47415823002 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.3 Vol.8 |
| format | Artículo científico |
| id | redalyc_47415823002 |
| language | en |
| publishDate | 2010 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | A new experimental ground vehicle with hybrid control and hybrid vision sensor Juan Manuel Rendón-Mancha Ingeniería laser computer vision Nonlinear control saturation functions experimental platform A new experimental ground vehicle with hybrid control and hybrid vision sensor Juan Manuel Rendón-Mancha Guillaume Sanahuja Pedro Castillo Rogelio Lozano Ingeniería laser computer vision Nonlinear control saturation functions experimental platform This paper presents a new hybrid control algorithm based on saturation functions and its real-time application to a ground vehicle. The hybrid control is developed from a nonlinear continuous control law and the objective is to obtain the optimal sampling period T to apply the controller in real experiences. The stability analysis was made in discrete time. The experimental platform is composed of a remote control toy car and a vision system. The vision system is built using a simple webcam and a diode laser. This system is fast, accurate, inexpensive and easy to implement. Simulations and experiments show the stability and robustness of the closed-loop system. The proposed control law performance is compared with a linear control algorithm. 2010 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47415823002 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.3 Vol.8 |
| title | A new experimental ground vehicle with hybrid control and hybrid vision sensor |
| topic | Ingeniería laser computer vision Nonlinear control saturation functions experimental platform |
| url | https://www.redalyc.org/articulo.oa?id=47415823002 |