# Questions tagged [control]

A method or device to manage, command or regulate some part of a system.

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262k views

### What are good strategies for tuning PID loops?

Tuning controller gains can be difficult, what general strategies work well to get a stable system that converges to the right solution?
6k views

### Robot never goes straight

I am using 2 identical DC motors and a castor wheel. The motors are connected to L293D motor driver and are controlled by RPi. The robot is not going straight. It veers off to the right. I am ...
2k views

### The aerial refueling problem: sketch of a feedback controller

At first happy new 2015!!! I'm looking for my next simulator development: a Tanker is flying at constant speed (350 Knots) (no acceleration, no change of altitude or direction). The Tanker is ...
11k views

### How do I calculate the required loop frequency for a servo controller?

I have a motor which drives a string connected to a load cell. I would like to implement a closed loop controller to control the load applied by the motor to the string. How do I go about determining ...
4k views

### jacobian of Abb irb140 robot

Can someone please help me with the jacobian matrix equations for Abb irb140 robot. Or an easy way by which I can derive it given the DH parameters. I need it to implement some form of control that am ...
4k views

### How to calculate the right and left speed for a tank-like rover?

I am trying to control the Rover 5 robot using an Android app with a touch-based joystick control in the app UI. I want to calculate the speed of the left and right motors in the rover when joystick ...
5k views

### How to further understand the computed torque model controller

For the following controller what do $q_{des}$ and $q_{act}$ stand for? Also, what is the general principle of this controller? Thanks!
5k views

### How is PIV control performed?

I'm considering experimenting with PIV control instead of PID control. Contrary to PID, PIV control has very little explanation on the internet and literature. There is almost a single source of ...
1k views

### Tracking objects from camera; PID controlling; Parrot AR Drone 2

I am working on a project where I should perform object tracking using the camera of Parrot AR Drone 2.0. So the main idea is, a drone should be able to identify a specified colour and then follow it ...
677 views

### Quadcopter PID Controller: Derivative on Measurement / Removing the Derivative Kick

Good day, I am currently implementing a single loop PID controller using angle setpoints as inputs. I was trying out a different approach for the D part of the PID controller. What bought this ...
3k views

### ROS: Best practices?

I'm going to build a small robot system, and it seems like that ROS serves a nice framework to control and program the system. However, I am wondering which is the best practice to manage the ...
17k views

### Position Control vs Velocity Control vs Torque Control

Please can somebody explain to me the difference between Position Control, Velocity Control, and Torque Control? Specifically, I am thinking in terms of a robot arm. I understand that position control ...
8k views

### I don't understand Integral part of PID controller

I dont understand integral part of PID controller. Let's assume this pseudocode from Wikipedia: ...
6k views

### how to implement tracking problem with PID controller

I'm trying to implement the tracking problem for this example using PID controller. The dynamic equation is $$I \ddot{\theta} + d \dot{\theta} + mgL \sin(\theta) = u$$ where $\theta$ : joint ...
5k views

I'm trying to implement a PID control on my quadcopter using the Tiva C series microcontroller but I have trouble making the PID stabilize the system. While I was testing the PID, I noticed slow or ...
194 views

### Biped State Space Implementation

Currently I working on a humanoid robot using inverted pendulum model and use LQR for walking stabilizer. Input u is Torque, State x is angle and angular velocity and y output is angle. I got the ...
6k views

### How can I modify a low cost hobby servo to run 'freely'?

I've got some hobby servos (Power HD 1501MGs) and I'd like to be able to control them (via an Arduino) so they will either go to the angle I set, or put them in a 'free running' mode, where the load ...
666 views

### Using genetic algorithm for tuning controllers

I've read some papers for controlling nonlinear systems (e.g. nonlinear pendulum). There are several approaches for targeting nonlinear systems. The most common ones are feedback linearizaing, ...
529 views

### Arduino Motor control

I'm working on a rather low budget project, and need some way to control four or more motors using one Arduino. I've looked at motor shields a little, but I have a shield on top of it already, It does ...
4k views

### Quadcopter PID Control: Is it possible to stabilize a quadcopter considering only angle measurements?

Good day, I am a student currently working on an autonomous quadcopter project, specifically the stabilization part as of now. I am using a tuned propeller system and I also already considered the ...
538 views

### Proportional controller error doesn't approach zero

I'm reading this pdf. The dynamic equation of one arm is provided which is $$l \ddot{\theta} + d \dot{\theta} + mgL sin(\theta) = \tau$$ where $\theta$ : joint variable. $\tau$ : joint torque ...
3k views

### What are the advantages of optimal control as opposed to control theory?

For a robot, say path planning in particular, what are the pros and cons of choosing classical control theory or optimal control (LQR for example) ?
475 views

### Two-wheeled self-balancing robot - Choosing the control system

Would an Arduino Uno have the precision-timing required (using only firmware) to control a two-wheeled inverted pendulum robot, or would it need a RTOS? Note: Thanks for both answers, they both ...
2k views

### Self balancing robot control system strategies [closed]

I’m in the early stages of designing a self-balancing robot as a way to refresh my knowledge on control theory, which has been gradually slipping away since graduating about a year and a half ago. I'm ...
278 views

### What is the right approach to write the spin controller for a soccer robot?

Imagine programming a 3 wheel soccer robot. What type of controller would you use for spinning it? P? PID? The goal for this controller is that it should make the robot stand in a defined angle ( 0 ...
833 views

### How can I control a fast (200Hz) realtime system with a slow (30Hz) system?

We are currently designing a mobile robot + mounted arm with multiple controlled degrees of freedom and sensors. I am considering an architecture in two parts: A set of realtime controllers (either ...
468 views

### Is the geometric inverse problem's solution “continuous” for a redundant robot?

Let's say my redundant robot is at an operationnal position $x$. Is the set of all possible joint configuration "continuous", which would mean that it is possible to explore all the possible ...
368 views

### Good method for Retuning a PID After Detecting Oscillation

Given a PID controller with an anti-windup, what are some practical ways to retune the controller once oscillation has been caused and detected? I have access to the magnitude and period of the ...
59 views

### Issue with series command in MATLAB

I have a controller and a plant in series. The controller is 3 input 3 output MIMO system and the plant is also 3 input 3 output system. The bode of the open loop gain, i.e., $$D(z)=C(z)*G(z)$$ ...
607 views

### Quadcopter PID output and duty cycle conversion

I'm trying to design two PD controllers to control the roll and pitch angle of my quadcopter and a P controller to control the yaw rate. I give to the system the reference roll, pitch and yaw rate ...
816 views

### Control VS artificial intelligence?

I have heard of both the terms AI (artificial intelligence) based robots and control based robots. Although they are both different fields, what is the difference between AI and control in regards to ...
421 views

### Linear Motion Control for quadrotor (clarification)

I've posted a question regarding this matter that I couldn't solve. I'm reading this paper, the authors state Linear $x$ and $y$ Motion Control: From the mathematical model one can see that the ...
798 views

### PD Algorithm for a Quadrotor [Simulation]

I have a big problem trying to stabilize a quadrotor with a PD controller. The model and the program has been written in C++ and the model dynamic has been taken from this source in internet: Well, ...
368 views

### Math behind trajectory planning

Let's assume the very simple case of a particle and a control system in one dimensional space therefore our particle can move only in a straight line and dynamics of system is described by: \$m\vec{a} ...
213 views

### Quadcopter force/torques duty cycle conversion

after having been determined my control loops for my quadcopter project, I'm going to determine the motor commands (PWM duty cycle) from the motor forces/torques. I was following the guidelines of ...