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9 votes
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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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4 votes
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PID Control: Integral error does not converge to zero

I don't think this is related to integral windup at all. I noticed that the I-error does not converge to zero That's a good thing, because it means your integral term is not useless. The integral ...
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2 votes

Pole placement gains tuning

I assume that you'd aim to place the poles in $-0.5 \pm 0.2 \cdot i$ for stability reasons. In the s-domain, the transfer function is: $$ \frac{\Phi_c}{\Phi}=\frac{K_p}{s^2+K_ds+K_p}. $$ Computing the ...
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2 votes
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PID Tuning for an Unbalanced Quadcopter: When do I know if the I-gain I've set is too high?

Based on the videos, it looks like the answer is, unfortunately, "the test setup you have might be insufficient to say one way or the other". There is too much slack in the tethers to draw any ...
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  • 10.9k
2 votes

Problem with tuning PID for motor

Welcome to Robotics, Bloopie Bloops! You haven't stated what platform/language this is, so I'll just give some illustrative pseudo code. As Mark Booth mentioned, the typical way to evaluate/critique ...
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  • 14.9k
2 votes

Problem with tuning PID for motor

Your goal is a bit unclear. In the sense that you don't really care about your motor control input, what you want is a given rotational velocity. the pid is going to give you the command (motor input) ...
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  • 1,337
2 votes

PID tuning - can't get stiffness without going unstable

Well you have two methods to go with really. As I don't know you're system at all, it's mostly difficult to tell you what to start with. Model it and Auto tune, then fine adjust by hand (how I would ...
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1 vote

Tuning a cascaded attitude and attitude rate PID controller

You can operate the quadcopter with a poorly tuned attitude rate PID, log relevant quantities, build a model from the data, and finally use the model to tune the PID iteratively. Suppose that such an ...
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1 vote

Real world dynamic problem suggestion for PID

Look for highly nonlinear problems where a single PID is not suitable to work at its best within the whole operational range thus requiring multiple controllers. Here's an example in Simulink. In ...
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1 vote

PID Control: Integral error does not converge to zero

When I look at your graphs of position error and integral error, I don't see any unexpected behaviors for a system which is not quite tuned well enough. You are not showing integral windup nor ...
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  • 4,336
1 vote

PID Tuning for an Unbalanced Quadcopter: When do I know if the I-gain I've set is too high?

What does your code look like that you use to calculate your errors? I had suggestions to revise your code, but you're just linking back to your earlier questions so I don't know if that's current or ...
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  • 14.9k
1 vote

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

A standard approach (using opencv solvePnP) is using at least 4 points in the image that define landmarks of a known geometry. You can then get the pose of the camera relative to the object. For ...
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1 vote
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Tracking objects from camera; PID controlling; Parrot AR Drone 2

On the condition that you don't care about the position of the quadrotor regarding your target, but instead only of the absolute distance, I would say that for starters, you can extract the distance ...
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  • 520
1 vote
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P gain tuning for quadcopter (Is my perception for a P-gain too high correct?)

:EDIT: I've edited out most of the content I had previously written because your code does work (except for the mis-matched parenthesis), but it threw me off because this is not really a ...
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  • 14.9k
1 vote

Tuning PD for line follower

Your PID calculation is all wrong. You have: //calculate power_difference of motors power_difference = error/(Kp/100) + derivative*(Kd/100); First, you need ...
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1 vote
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In the PID equation K[((s+a)^2)/s] what values correspond to the PID coefficients Kp, Ki, Kd?

It is in frequency domain instead of time domain. $$ G(s)=\frac{K(s+a)^2}{s} = \frac{Ks^2+2Kas+Ka^2}{s} $$ according to the Laplace form of the PID controller $$ G(s)=\frac{K_ds^2+K_ps+K_i}{s} $$ ...
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  • 131
1 vote

PID tuning method based on Pole placement

I have to say that $G(s)$ seems to represent quite a strange physical system with a settling time of 15.8 hours, especially compared with the requirement. There might have been some mistakes in ...
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