Resumo

RENDON-MANCHA, J. M.; SANAHUJA, G.; CASTILLO, P.  e  LOZANO, R.. A new experimental ground vehicle with hybrid control and hybrid vision sensor. J. appl. res. technol [online]. 2010, vol.8, n.3, pp.310-320. ISSN 2448-6736.

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.

Palavras-chave : Nonlinear control; saturation functions; computer vision; experimental platform; laser.

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