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Proportional Integral Derivative Controller. A type of control algorithm used in many control situations, especially servo systems.

2
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2answers
27 views

Meaning of a negative step response with quaternion

It's not technically robotics but: I've been trying to reproduce in Simulink a spacecraft attitude simulation using quaternions, and the kinematics and dynamics seem to work fine, however I'm having ...
0
votes
1answer
19 views

stable altitude quadcopter

I'm currently working on a project to generate a stable altitude and automatic control for a quadcopter I'm using arduino as the flight controller Ultrasonic sensor HC-SR04 MPU-6050 However my ...
2
votes
1answer
25 views

Which controller to use for custom servo?

I am trying to build a microcontroller based higher payload version of a servo motor using geared induction motor with VFD as a control device. For this purpose I have selected a 1HP motor running at ...
1
vote
0answers
35 views

PID loop to control motor velocity with disturbances

I am trying to use a PID loop to control a motor. This is my first attempt at creating a PID loop (really just a PI loop). There doesn't exist a model for this system, and I don't know how to create ...
0
votes
0answers
15 views

Need help with designing a Neural Network to adaptively adjust PID gains of a two-link manipulator for load varying tools

I am trying to simulate my planar two-link manipulator model in ROS+Gazebo. I am using position controllers for joint angles of the manipulator and have applied inverse kinematics to follow desired ...
1
vote
0answers
34 views

Quadcopter bldc PID control

Working on stabilizing a Quad using Arduino Due. I have slightly modified one of the examples of Jeff Rowberg's library to give yaw, pitch and roll angles (zero initialized angles). Moreover, I am ...
1
vote
0answers
58 views

Treatment of euler angles in quadcopter control

In most implementations of quadcopter control systems I've seen, each axis of the quadcopter is controlled independently. For example, to control the rate in the roll axis, the desired output is ...
0
votes
0answers
58 views

PID vs Fuzzy line follower

I am making a line follower to follow a white line (approx 1.7 cmm wide) on a black track. I am using an array of 5 TCRT5000 (IR led+phototransistor) to detect the line. I was previously working with ...
0
votes
0answers
27 views

Plant transfer function modelling of a cooling system using forced air (PID controller)

I am working on a project which required me to make a PID controller to control an intake and an exhaust fan. I'm looking to see if someone can give me feed back on if my plant model is correct? I ...
1
vote
1answer
133 views

Calculating error on line following robot (PID)

I am kind of new to control systems and I am currently making a line follower using PID loop. I am using 6 IR LED Photo-transistor pairs to detect the line but I am not sure how to calculate the error....
0
votes
1answer
89 views

How to use PID control for line following robot?

It's me the greatest noob again.thank you very much for your last help guys.Now,this time I am with a line following robot.I want to use PID control in it.But I'm not getting any perfect resource from ...
0
votes
2answers
90 views

Quadcopter stable with angular velocity but not with absolute angle

I'm making a flight controller for quadcopter. It is very stable when regulated by angular velocity, but it is horrible when regulated by angle. What are the potential problems when regulating a ...
2
votes
1answer
129 views

MPU6050 inconsistent Gyro data

I'm using an MPU6050 for a custom flight controller and I am facing an issue when reading the values from the IMU. The data shown below represents the angular velocity in the y-axis. When the angular ...
0
votes
2answers
57 views

How to start as a control system engineer and to make advanced projects using PID [closed]

I am new to the field of control systems, PID and robotics and I want to enhance my knowledge in the field. Can you recommend me books where I can start learning about control system engineering (with ...
2
votes
2answers
58 views

What are good options for modifying drones?

I'm apart of a group at my University where we would like to build a drone/UAV and constantly add and modify parts on it. We were thinking of using an Arduino or raspberry pi, but we really don't ...
-1
votes
1answer
53 views

Control geared DC motor based on timing?

According to this video from Khan Academy about electronics of a DVD drive the position of the sled (which moves the reading head) is controlled by a geared DC motor by using only timing and one end-...
0
votes
0answers
57 views

Tuning PID for a heater [duplicate]

I am planning to implement PID control for my heater. I want to maintain my temperature at 600 C. Please give me a few suggestions on the tuning methods
0
votes
0answers
38 views

Four in-wheel motor driven skid steering robot - Closing loops

I am developing a closed loop system for a robot like the one described in title. I have a rigid structure (no suspensions) with four independent BLDC hub motors. Each side (left-right) has got a ...
0
votes
3answers
215 views

Balancing robot - How to control the velocity and angle

We are currently making a balancing robot as a school project. The robot has a gyroscope and an encoder to get the angle of the robot and the rpm of the wheels. By using the current angle of the ...
0
votes
1answer
59 views

Is Robust Control and robotics well applied together?

There are many control methods who sounds great and have nice math etc. But many of them are not realistic in real life. In robotics, Adaptive Control is well applied because Adaptive Control make ...
1
vote
1answer
226 views

Line follower PID tuning for high speed

I have a line following differential drive robot with a PID control. I successfully tuned (try and error) the P,I,D constants for a good stability in low speeds, but when I increase the speed, ...
1
vote
1answer
48 views

How to track two set-points with one output?

How can I track two set-points in a system using only one output? Example: make a motor track a position x moving in a speed y while I have only voltage as an output, speed and position as feedback. ...
1
vote
0answers
279 views

How to make a line following algortihm for an A.R Drone 2.0? [closed]

I am trying to develop a line following algorithm where a drone will detect a bounding box and follow what is inside the bounding box. I am filtering all the colors to only see the color white. Once ...
1
vote
1answer
71 views

how to sync the timer in control system with ROS?

To simulate a system, a global timer will be set and all submodules will be synchronized with that timer to work together. such as PID controller, kalman filter, PWM module etc. How do you sync the ...
1
vote
0answers
30 views

What algorithm should I use to make a dynamic Line following robot? [closed]

I want to make a LFR using IR sensor. Till now I coded my robot according to the track I am going to participate in. So it won't work on any other track. But now I want to code it in a way that it ...
1
vote
2answers
61 views

Simple PID Loop Question

Let's say, for example, I am controlling a motor's speed by adjusting how much power I feed into it. The motor shaft is connected to some physical device with varying amounts of torque, so in order to ...
1
vote
1answer
92 views

Robot Position Control on Treadmill

Previous Question Hello, In continuation of my question above, I have another question. I have managed to control the speed of the treadmill using a PID and StevO mentioned to me how the scaling from ...
0
votes
0answers
32 views

How to use heading information to improve line tracking and robot speed

I have a robot platform with differential drive setup and an optical sensor that can give me both the left/right deviation from the line that has to be tracked and also the line's relative angle. The ...
2
votes
1answer
198 views

Correct Quadcopter Yaw control implementation

I have built a quadcopter from scratch, including my own flight controller. I have implemented a sensor fusion algorithm (Madgwick algorithm), which returns me current Yaw, Pitch and Roll angles. ...
0
votes
0answers
110 views

Cascaded position-velocity loop with two commanded inputs

I want to be able to do cascaded position-velocity loop with two commanded inputs: position and velocity as shown in the block diagram below. The user should be able to configure the targeted speed ...
1
vote
1answer
141 views

Reducing noise between 3 ultrasonic sensors and make Autonomous Robot more precise

I made an autonomous robot with 3 ultrasonic sensors. I want to reduce the noise between the 3 sensors and make it gradually slow when it approaches an obstacle. My code is mentioned below. Please ...
1
vote
1answer
277 views

PID Controller Output Mapping for Motor Speed Control

Hi, I want to control the speed of a conveyor belt. I can measure the linear velocity of the belt using a encoder mounted at the roller of the belt. My confusion is not with the PID but only the ...
0
votes
0answers
54 views

Can we use android phone sensors for a self balancing bot?

Are the values given by accelerometer and gyroscope give values correct enough for creating a self balancing bot?
4
votes
1answer
103 views

How do timings affect input, sensor fusion, and output?

I'm programming a quadcopter controller. I've managed to make it fly. But, I'm not sure how to set up the timings schedule for each part of the software. I have several sensors (gyro, accelerometer, ...
0
votes
0answers
52 views

Quadcopter trajectory tracking with various headings using attitude controller

I'm working on quadcopter right now. I've successfully implemented position controller for my copter using attitude control. Basically I have attitude PIDs which take position of goal and output the ...
0
votes
0answers
50 views

Unstable quadcopter PID

I've been working on creating a quadcopter this summer, but I can't get it to stabilize itself. It won't even hover for more than 5-10 seconds. It typically raises off the ground and drifts to one ...
1
vote
1answer
52 views

Quadcopter Flat Surface Roll Pitch angle not 0 Degree

At 11:13 or 2:22 of this video or 0:09 of this second video the drone itself is on flat surface but the flight controller itself must have been placed in tilted position (not intentionally) on frame a ...
1
vote
1answer
80 views

Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT?

Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT? ...
4
votes
1answer
212 views

Handling PID DC motor control at low speeds

I am building a 4 wheel rover and am using PID DC motor control for the back set of wheels. The feedback for the speed is provided by Hall effect sensors, with two pulses per rotation. This means ...
2
votes
1answer
49 views

What's wrong in controlling Roll+Roll rate in a quad-copter instead of using 2 separate loops for each?

I am curious to know why we can't apply control algorithm like PID on the weighted signal of Roll and Roll rate in a quad-copter instead of using two loops to control them independently. Fundamentally ...
0
votes
0answers
36 views

PI-controller and selective periodic disturbance rejection

This question related to the another question I posted here, however I think its best to start a different post. I have a 1-DOF electromechanical application whereby I am controlling the contact-...
1
vote
1answer
58 views

PI with poor sampling rate

I have a 1-DOF electromechanical application whereby I am controlling the contact-force at the tip of the end-effector. The force sensor on the end-effector unfortunately gives me force data and an ...
3
votes
1answer
326 views

Guessing the K matrix gain for the Optimal Control LQR?

I'm are going to create a LQR to control a system. The problem is to choose the Q and R weighting matrices for the cost function. The Q and R matrices are going to minimize the cost function so the ...
1
vote
1answer
292 views

2D quadcopter simulation position controller and PD controller

I'm a beginner in controls system, so if there is a nice tutorial on this, please let me know. I have a Simulink model like the following: It takes roll and pitch commands and output velocities and ...
1
vote
1answer
191 views

Stabilising a quadcopter using YPR

I'm using the MPU-6050 accelerometer + gyro with the library I2Cdev which outputs: quaternion, euler angles and YPR angles. The equations used for calculating the YPR are: ...
2
votes
0answers
131 views

Is it my PID that is unstable or my physical system? (Quadcopter)

I've been working on this Arduino-MPU6050 quadcopter for a while now, and it looks like it's close to being finished. I have programmed it in rate mode, so the PID's control the rotational velocity. ...
1
vote
3answers
224 views

Making a robot move straight between two maze walls

Using a PID with encoders, I can make the robot move straight but there is a 0.5 degrees drift and it eventually hits a wall so I need to adjust to center it between the two walls. I have a sensor on ...
4
votes
1answer
276 views

Tuning Line follower PID constants with Q-learning

I am currently working on a line follower buggy and have managed to tune the PID constants​ manually. The buggy follows the line at a moderate speed. I will now like to take things further and learn ...
0
votes
1answer
386 views

Balancing robot tuning approach

I'm at the stage where I assembled a balancing robot and it's not maintaining a stable position. This is not a surprise I just started testing last night. My code is here, views of the device are ...
3
votes
3answers
1k views

PID tuning with (Deep) Reinforcement Learning

I am trying to implement a RL algorithm for an adaptive PID in a robot system. My doubt consists in the creation of the possible states in the problem. I mean, I understand quite well the problem ...