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Feedback Control
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Purpose
Study feedback control, and how to control a robot to achieve and maintain a desired state. Refer to chapter 10 of "The Robotics Primer".
Overview
Feedback control is a strategy commonly used to in a system to achieve and maintain a goal state. Feedback refers to information "fed-back" into the system. A simple example is a thermostat. A thermostat consistently monitors the current state (room temperature) and the desired state (goal temperature). If the two states do not match (e.g. when set a low temperature on a hot day), the thermostat turns on the heater or airconditioner until the goal temperature is reached.
In these exercises we will study three types of feedback control: proportional (P), proportional + derivative (PD), and proportial + derivative + integral (PID).
Hardware
| Exercise | Command Module | Gumstix | Misc |
|---|---|---|---|
| Exercise 1 | Yes | Yes | IR/Sonar sensor |
| Exercise 2 | Yes | Yes | IR/Sonar sensor |
| Exercise 3 | Yes | Yes | IR/Sonar sensor |
Exercise1: Proportional Control
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One of the simplest forms of control is proportional. This type of control attempts to correct the immediate error, which is multiplied by a constant proportional factor. In this exercise you will write a proportional controller to approach an object. |
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Exercise2: Proportional + Derivative Control
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A derivative controller takes into consideration time, and acts like a damper over short term changes. In this exercise a derivative component is add to the proportional of the previous exercise. Feedback Control:Exercise 2: Proportional and Derivative Control |
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Exercise3: Proportional + Derivative + Integral Control
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The final type of controller uses past information to correct a constant offset. This final exercise combines proportional, derivative, and integral components to make complete PID controller to approach an object. Feedback Control:Exercise 2: Proportional, Derivative, and Integral Control |
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