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utiasDSL / gym-pybullet-drones

PyBullet Gymnasium environments for single and multi-agent reinforcement learning of quadcopter control
https://utiasDSL.github.io/gym-pybullet-drones/
MIT License
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DSLPID Control #149

Open Mrjarkos opened 1 year ago

Mrjarkos commented 1 year ago

Hi. I'm curious about how the DSLPID Controller coefficients were obtained. I'm using this controller as a baseline controller for some deep learning models. The controller works pretty good, there was any kind of tuning? On the paper there is no information about it and the documentation on the code only says: Based on work conducted at UTIAS' DSL by SiQi Zhou and James Xu

JacopoPan commented 1 year ago

@siqizhou

siqizhou commented 1 year ago

The controller tuning was done as part of this work: https://arxiv.org/pdf/1810.03572.pdf. Xintong is able to provide further details if needed. Overall, the controller gains were first tuned using a simple second-order model, and then fine-tuned using the Crazyflie hardware.