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jforge/gist:ef5b001ebed9e827403ec22e802c97c6

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Created October 4, 2024 17:39
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  1. @zirkonit zirkonit renamed this gist Oct 4, 2024. 1 changed file with 0 additions and 0 deletions.
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  2. @zirkonit zirkonit renamed this gist Oct 4, 2024. 1 changed file with 0 additions and 0 deletions.
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  3. @zirkonit zirkonit created this gist Oct 4, 2024.
    65 changes: 65 additions & 0 deletions gistfile1.txt
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    (* Follower Control Algorithm
    This function implements a control algorithm for a follower system,
    possibly used in robotics or autonomous vehicles. *)

    let node follower_control (
    leader_position: float,
    leader_velocity: float,
    follower_position: float,
    follower_velocity: float
    ):
    (* Ensure all input parameters are floats *)
    {(vxf: float) * (vvf: float) * (vxl: float) * (vvl: float) | true} :
    {control_output: float |
    (* Complex control law calculation *)
    (((
    (* Part 1: Leader position adjustment *)
    (leader_position +. ((leader_velocity *. leader_velocity) /. (2. *. braking_distance))) +.

    (* Part 2: Maximum acceleration adjustment *)
    ((1. +. (max_acceleration /. braking_distance)) *.
    (2. *. time_step *. leader_velocity +. ((max_acceleration *. (4. *. time_step *. time_step)) /. 2.))) +.

    (* Part 3: Velocity adjustment *)
    ((leader_velocity *. time_step) /. 2.)) +. 0.5
    <
    (* Part 4: Follower position adjustment *)
    (follower_position +.
    (((follower_velocity -. (braking_distance *. time_step)) *.
    (follower_velocity -. (braking_distance *. time_step))) /. (2. *. braking_distance)) +.
    (((follower_velocity -. (braking_distance *. time_step)) *. time_step) /. 2.))
    && (control_output = max_acceleration))
    ||
    (* Similar calculation for the opposite condition *)
    (((
    (leader_position +. ((leader_velocity *. leader_velocity) /. (2. *. braking_distance))) +.
    ((1. +. (max_acceleration /. braking_distance)) *.
    (2. *. time_step *. leader_velocity +. ((max_acceleration *. (4. *. time_step *. time_step)) /. 2.))) +.
    ((leader_velocity *. time_step) /. 2.)) +. 0.5
    >=
    (follower_position +.
    (((follower_velocity -. (braking_distance *. time_step)) *.
    (follower_velocity -. (braking_distance *. time_step))) /. (2. *. braking_distance)) +.
    (((follower_velocity -. (braking_distance *. time_step)) *. time_step) /. 2.))
    && (control_output = -. braking_distance)))} =

    (* Main control logic *)
    (if ((leader_position +. ((leader_velocity *. leader_velocity) /. (2. *. braking_distance))) +.
    ((1. +. (max_acceleration /. braking_distance)) *.
    (2. *. time_step *. leader_velocity +. ((max_acceleration *. (4. *. time_step *. time_step)) /. 2.))) +.
    ((leader_velocity *. time_step) /. 2.)) +. 0.5
    >=
    (follower_position +.
    (((follower_velocity -. (braking_distance *. time_step)) *.
    (follower_velocity -. (braking_distance *. time_step))) /. (2. *. braking_distance)) +.
    (((follower_velocity -. (braking_distance *. time_step)) *. time_step) /. 2.))
    then
    max_acceleration (* Apply maximum acceleration *)
    else
    -. braking_distance) (* Apply maximum braking *)

    (* Note: The following constants are used in the calculations but are not defined in this snippet.
    They should be defined elsewhere in the program or passed as parameters:
    - max_acceleration: Maximum allowable acceleration
    - braking_distance: Distance required for the follower to come to a stop
    - time_step: Time interval between control updates *)