gistfile1.ml

(* 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 *)