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| Main Author: | |
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| Format: | Artículo científico |
| Language: | en |
| Published: |
Universidad Nacional Autónoma de México
2010
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| Subjects: | |
| Online Access: | https://www.redalyc.org/articulo.oa?id=47415823002 |
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Table of 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