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# Tag Info

### How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Proportional term: this controls how quickly to turn the steering when the heading is not at the set value. A low P will lead to sluggish steering, reacting only slowly to set heading changes. It may ...
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Accepted

The glaring issue I see at the moment is that you are forcing polarity on the I and D terms. In general, you are using a lot of sign checks, sign assignments, and conditional programming. None of that ...
• 16k
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### How can we use the accelerometer for altitude estimation?

The barometer carried on the pixhawk has an altitude resolution of 10 cm. If that isn't enough, you could write a kalman filter that uses the accelerometer data in the prediction step and the ...
• 1,853
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### How to tune the PID parameters using Fuzzy Logic?

The paper Controlling of Quadrotor UAV Using a Fuzzy System for Tuning the PID Gains in Hovering Mode by E. Abbasi, M. J. Mahjoob explains how to tune PID gains with fuzzy logic. You can find many ...
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### Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT?

No, but you do need to calculate the P/I/D terms correctly. You have: I = I + previous_I; followed by: previous_I = I; ...
• 16k
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### PID control: zero out integral on error sign change?

Generally, in a well-tuned PID, most of the job is done by the P term, which is responsible for driving PV to SP. Then, D and I serve as corrections: the D term regulates the profile as of how we ...
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### PID with position and velocity goal?

In the case of MIMO systems (Multi-Input, Multi-Ouput), my warm suggestion is to go with State Space Control, which will give you enough freedom to move the closed-loop poles and thus achieve your ...
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### PID controller that targets a set rotation and a set velocity at that rotation?

Find here a similar question. A well-tuned position PID is most of the time capable of accomplishing the task of reaching a target with zero velocity. The central point here is that you shall provide ...
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### What is the best adaptive controller for robotic arms?

The given strategies can be divided into two groups: model-based and model-free control. The AMPC and MARC suggestions are model-based the other are model-free. Theoretically, a pid controller can be ...
Accepted

### Motion profile and Motion control scheme, how do they interact?

These two concepts are complementary and you use them together, the motion profile providing the input to your control scheme. At each time-step the motion profile gives you the reference values for ...
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### PID Control: Is adding a delay before the next loop a good idea?

Don't disengage your controller. The purpose of a controller is not only to steer your system to the desired setpoint according to a predetermined dynamical response but also to counteract potential ...
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### Inner current controller benefits

What would be the benefits of implementing this full nested control architecture for the control compared to my current implementation Textbooks are always a great source of information! Reference: &...
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### Impact of using PID Output as a Change (Delta) vs Absolute

All PID controllers are relative in the sense that they act on a reference error, which is the difference between the reference signal and the sensed signal. Assuming the integral error starts at the ...
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### Does PID controller work on every actuator

does the PID controller work on every actuator? The short answer to this is yes. PID controllers are used to stabilise a plant/system. They are heavily used in ...

### Why do I need I-gain in my outer-loop?

Integral gain is how you eliminate steady state error. An integral gain in the inner loop means you'll (eventually) have no steady state error on the angular velocity. What ensures no steady state ...
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### Why do I need I-gain in my outer-loop?

In my own experience, it is not necessary Integral term in any of these loops. I got a fine PD tuning of both inner and outer loop. See for instance this paper, where I firstly tuned PD only with PSO. ...
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### Can we simulate a actuator with a very strong torque with a PID controller

What you're asking for cannot be accomplished with a PID controller. As I understand your question, you want to be able to choose PID gains that would always produce a "good" trajectory, ...
Accepted

### How to create a model for temperature control?

Generally you would only develop a model if (as in your case), you have something that you want to control. In that case, you should start by: List the outputs that you want to control. List the ...
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