PID control
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Abstract
Ardumower uses a digital PID controller for
- heading/course tracking
- perimeter tracking
- motor speed control
- ...
PID controller
Proportional, Integral and Derivative (PID) controller concept:
P : control gain (too high value produces oscillation, too low value not sufficient control) D : to reduce over-shooting/adds damping I : reduce small error left by P-only
Velocity PID
The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form: