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

Categories: Exercise | Player Exercise | Command Module Exercise

Feedback Control:Exercise 2: Proportional and Derivative 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 Control for wall-following

A Derivative controller uses the change in error as a predictor of the future. In this exercise you will add a derivative component to the proportional 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 proportional?