Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

PD Control for waypoint navigation #6

Open
kshitijgoel007 opened this issue Nov 25, 2016 · 4 comments
Open

PD Control for waypoint navigation #6

kshitijgoel007 opened this issue Nov 25, 2016 · 4 comments
Labels
enhancement help wanted

Comments

@kshitijgoel007
Copy link
Owner

kshitijgoel007 commented Nov 25, 2016 •
edited
Loading

Objective: Make a PD controller for AUV to follow waypoints in the horizontal plane.

  • Using two inputs : stern deflection and rudder deflection. Note : Bp and Bs are to be ignored as their control power is very low.
  • Linearize the Yaw motion equation in the form x' = Ax + Bu and y = Cx + Du
  • After the system is linearized, find the eigenvalues of the system.
  • Using stability analysis, find the range of proportional and derivative gains.
  • Determine final K_p and K_d values within this range.

attn : @shubhamjena @AlphaMale1996
@kshitijgoel007
Copy link
Owner Author

Surge controller done in 32aa9ed

@kshitijgoel007 kshitijgoel007 modified the milestone: Sliding mode control for Yaw Dec 31, 2016
@kshitijgoel007
Copy link
Owner Author

Some bugs still remain in 32c0e48

attn: @shubhamjena mail the theory you have written till now. I will formulate the rest.

@kshitijgoel007
Copy link
Owner Author

@shubhamjena Reminder regarding the formulation that you have done.

@kshitijgoel007
Copy link
Owner Author

kshitijgoel007 commented Mar 24, 2017 •
edited
Loading

Stopping is an issue. This has to dealt later. Tagging this help wanted as of now.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
enhancement help wanted
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@kshitijgoel007