Questions tagged [pid]
Proportional Integral Derivative Controller. A type of control algorithm used in many control situations, especially servo systems.
389 questions
0 votes
1 answer
47 views
Crazyflie 2.0 Cascade PID for Position Control
Using the Mujoco Menagerie model for Crazyflie, I am trying to implement a cascaded PID controller to this model in a MuJoCo simulation. The drone's actuators are symolic, as in they represent thrust, ...
- 65
0 votes
1 answer
38 views
RX-1 robot arm oscillation - motor issue or mechanical frame problem? (STS3215 servos)
I'm working on an RX-1 humanoid robot with dual arms. All joints use STS3215 serial bus servos with a 1:345 gear ratio. The system is powered by 12V at 7A, and the structure is built with 3D printed ...
- 1
0 votes
0 answers
56 views
Do I need PID controller along with MPPI for a diff-drive robot?
I am working on a differential-drive robot with 2 caster wheels, so it has challenging dynamics and is prone to wheel slippage on uneven surface. There is a PID feedback loop for each wheel speed in a ...
- 1
1 vote
1 answer
55 views
Observing pitch angle overshoots in my drone
For one of the flights I did with my 6kg quadcopter, i see sudden overshoots in Pitch angle as shown in image (see near time stamps "5:36:40" and "5:46:40"). The autopilot we use ...
- 11
0 votes
1 answer
58 views
How does ROS_control compute the dynamic model of the robot?
Suppose I want to use a torque control of the form : $$ \tau = J^T(q) \left( K_p (p_d - p) - K_d \dot{p} \right) + g(q) $$ given that: $$ M(q) \ddot{q} + C(q, \dot{q}) \dot{q} + g(q) = \tau $$ where $...
- 25
0 votes
1 answer
94 views
position controller not working as expected
I'm trying to make a rover with flippers which the robot can rotate to help it climb over obstacles. I'm using a position_controllers/JointGroupPositionController. While the flipper does go to a ...
0 votes
2 answers
98 views
Pid controller with encoder feedback for tank steering
I'm struggling to find a solution for my problem. I would like to write a simple PID controller in C/C++ that accepts a speed in RPM and controls the motors by receiving the feedback from the encoders....
- 125
0 votes
1 answer
420 views
How to Configure a PID controller Yaml file in ROS2_Control
In this page of the documentation of ros2 control There is no mention of how to make the PID controller actually work. If I run the yaml file example provided ...
