search

Tartan-AUV / tauv-mono

16 stars 2 forks source link

Integral gains in MPC controller #42

Open Toms42 opened 4 years ago

Toms42 commented 4 years ago

Try using the principals used in LQI (LQR + Integrator) to add integral gains to the MPC controller.

Could also try moving attitude control (roll/pitch) from PIDs to the MPC controller once this is done.

Toms42 commented 4 years ago

Alternatively, use adaptive methods (such as a kf) to estimate these steady state disturbances and correct for them in the dynamics model.

Toms42 commented 2 years ago

@theochemel we should decide if this is something we might need. @advaiths12 weigh in if you want.