The Robotics Primer Workbook Developed by  USC, iRobot® and Microsoft® Robotics Studio

Categories: Exercise | Player Exercise | Command Module Exercise

Feedback Control:Exercise 2: Proportional, Derivative, and Integral Control

Setup

This exercise makes use the Devantech SRF05 sonar sensor. Please complete the sonar exercise for information on using the SRF05 sonar. Attach the sonar to the top of the robot facing to the side, just as you would for wall following.

Proportional and Derivative and Integral Control for wall-following

A Integral controller incorporates the past error. In this exercise you will add a integral component to the PD controller from the previous exercise. The task is still wall-following where the robot starts 2-3 meters from the wall and must move to 50cm distance and maintain that distance for 2 meters.

1. How effective is this controller?
2. How does this controller compare to the P and PD controllers?