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This article mainly introduces the relevant knowledge of "how to achieve controller conversion in matlab". The editor shows you the operation process through an actual case. The operation method is simple, fast and practical. I hope this article "how to achieve controller conversion in matlab" can help you solve the problem.

Goal: to achieve the car to avoid obstacles on the way to the target, and to realize the controller conversion through the finite state machine

Finite state machine is a tool for modeling the behavior of an object. Its function is to describe the sequence of states experienced by an object in its life cycle and how to respond to various events from the outside world.

The state machine can be summarized into four elements, namely, present state, condition, action and secondary state. "present state" and "condition" are the cause, and "action" and "secondary state" are the results. The details are as follows:

① present state: refers to the current state.

② condition: also known as "event". When a condition is met, an action is triggered, or a state transition is performed.

③ action: an action that is performed when a condition is met. After the execution of the action, you can move to the new state, or you can still maintain the original state. Actions are not required, and when the conditions are met, you can move directly to the new state without performing any action.

④ secondary state: the new state to be moved to when the conditions are met. "secondary state" is relative to the "present state". Once the "secondary state" is activated, it will be transformed into a new "present state".

In SimuLink, there is a library StateFlow for finite state machine modeling, which can visually represent the four elements of the state machine, like this.

When dealing with some complex control logic, we can first see if it is suitable to be described by a finite state machine. if the business model can be abstracted into a finite state machine, then the code will have particularly clear logic and regular structure.

First open this file.

Jump to different controllers in different states

Last run

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