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PD Control for waypoint navigation #6

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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
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enhancement help wanted

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@kshitijgoel007
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kshitijgoel007 commented Nov 25, 2016 •
edited

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
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Surge controller done in 32aa9ed

@kshitijgoel007 kshitijgoel007 modified the milestone: Sliding mode control for Yaw Dec 31, 2016
@kshitijgoel007
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Some bugs still remain in 32c0e48

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

@kshitijgoel007
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@shubhamjena Reminder regarding the formulation that you have done.

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kshitijgoel007 commented Mar 24, 2017 •
edited

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

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