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Let's be real, the nomen clature around control theory is incredibly intimidating at first; it should't be like this. Also this is not in alphabetical order lol. |
- Reference - The target position we would like to be at. This is often used interchangably with other terms such as set point or target.
- Gain - A value we multiply by another value. In a PID controller Kp, Ki, and Kd are "gains"
- Feedback - a process where given a measurement and a desired state we calculate the best input to reach the state. A synonym for closed-loop control
- Feedforward - a process where given just a desired state we calculate the best input to reach the state. A synonym for open-loop control
- PID control - A type of feedback control with three main components. A proportional, an integral, and a derivative.
- Integral - the sum of a signal over time
- Derivative - the rate of change of a singal
- Full State Feedback - a feedback control method that is basically just a bunch of proportional controllers strapped together.
- State - where our system currently is, usually a combination of position / velocity.
- RoadRunner - A library for FIRST Tech Challenge that incorperates a ton of really powerful control techniques. It has built in localization (using drive encoders or dead wheels), trajectory generation, and trajectory following algorithms
- Path - a set of points that makes up where our robot should be in space. Usually traversed through by the robots current position.
- Trajectory - a set of position and velocity points, usually indexed by the given time.
- State machine - a way to code your robots that emulates asynchronous behavior but without the side effects.