Formation controller Sample Clauses

Formation controller this block is in charge of generating commands for the AUV surge speed and yaw angle (tracked by the AUV inner loops) so as to make the AUV track the position of the ASV with a properly chosen, possibly time-varying offset, as per the requirements of the maneuver being performed. In fact, the formation controller can be viewed as the cascade composition of two operations: i) generating a virtual target (determined by the trajectory described by the leader and the requisites of the leader tracking maneuver) and ii) tracking the virtual target. The generation of the virtual target (its position and velocity) relies on the fact that the follower (AUV) has access not only to the relative position and velocity of the leader (ASV), but also to the curvature of its trajectory. In the tests illustrated in later sections, this block is configured so that the virtual target is positioned at a point defined by desired along- and across-path distances with respect to the path defined by the ASV (which, we assume, is either a straight line or a segment of a circumference, or a combination thereof). This allows for the characterization of the trajectory of the virtual target, both in terms of its position relative to the underwater vehicle (follower) and its inertial velocity. These parameters are then fed to a trajectory-tracking controller that forces the actual vehicle to track the virtual one.
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Related to Formation controller

  • Controller The Controller shall be the chief accounting officer of the Company. He shall keep full and accurate accounts of the assets, liabilities, commitments, receipts, disbursements and other financial transactions of the Company; shall cause regular audits of the books and records of account of the Company and supervise the preparation of the Company’s financial statements; and, in general, he shall perform the duties incident to the office of controller of a company (as if the Company were a Delaware corporation) and such other duties as may be assigned to him by the Member or the President or as may be provided by law. If no Controller is elected by the Member, the Treasurer shall perform the duties of the office of controller.

  • Data Controller The Sponsor shall be the data controller for such personal data except that, if Quintiles deals with any personal data under this Agreement in the manner of a data controller, Quintiles shall be the data controller of such personal data to the extent of such dealings. Quintiles may process "personal data", as defined in the applicable data protection legislation enacted under the same or equivalent/similar national legislation (collectively "Data Protection Legislation"), of the Investigator and Study Staff for study-related purposes and all such processing will be carried out in accordance with the Data Protection Legislation.

  • Secretary; Assistant Secretary The Secretary shall record all proceedings of the Shareholders and the Trustees in books to be kept therefor, which books or a copy thereof shall be kept at the principal office of the Trust. In the absence of the Secretary from any meeting of the Shareholders or Trustees, an Assistant Secretary, or if there be none or if he or she is absent, a temporary secretary chosen at such meeting shall record the proceedings thereof in the aforesaid books. Any Assistant Secretary shall have such duties and powers as may be designated from time to time by the Trustees or the President.

  • Certificate of Chief Financial Officer On the date of this Agreement and on the Closing Date or the Additional Closing Date, as the case may be, the Company shall have furnished to the Representatives a certificate, dated the respective dates of delivery thereof and addressed to the Underwriters, of its chief financial officer with respect to certain financial data contained in the Pricing Disclosure Package and the Prospectus, providing “management comfort” with respect to such information, in form and substance reasonably satisfactory to the Representatives.

  • Other Controller Audit Any other Controller may audit SAP’s control environment and security practices relevant to Personal Data processed by SAP in line with Section 5.1 only if any of the cases set out in Section 5.1 applies to such other Controller. Such audit must be undertaken through and by Customer as set out in Section 5.1 unless the audit must be undertaken by the other Controller itself under Data Protection Law. If several Controllers whose Personal Data is processed by SAP on the basis of the Agreement require an audit, Customer shall use all reasonable means to combine the audits and to avoid multiple audits.