correll
commented
9 years ago Is this about the pose after taking IMU inputs into account? The servos should be pretty precise.
Sent from my iPhone
On Oct 30, 2015, at 8:08 PM, Jorge Cañardo Alastuey notifications@github.com wrote:
The platform doesn't track pose commands very well (it has too much stationary error, probably because some measurements aren't that great), so we need to stabilize it.
Given that we have an inverse model, we can use feedforward control, but that still has stationary error -> we need to add feedback. This is the type of architecture: http://computationalnonlinear.asmedigitalcollection.asme.org/data/journals/jcnddm/927599/m_cnd_009_01_011014_f001.png
Anybody with interest or experience in controls, feel free to pitch in with suggestions :)
— Reply to this email directly or view it on GitHub.
Jorge-C
The platform doesn't track pose commands very well (it has too much stationary error, probably because some measurements aren't that great), so we need to stabilize it.
Given that we have an inverse model, we can use feedforward control, but that still has stationary error -> we need to add feedback. This is the type of architecture: http://computationalnonlinear.asmedigitalcollection.asme.org/data/journals/jcnddm/927599/m_cnd_009_01_011014_f001.png
Anybody with interest or experience in controls, feel free to pitch in with suggestions :)