[TASK] DP controller

[Andeshog]

Description of task

The DP controller must be able to follow a path from guidance and do stationkeeping at a given point. The controller should control all 6 degrees of freedom. It should be discussed what type of controller will be used.

Ideas:

• PID with feedforward
• LQR
• SMC (sliding mode control)
• MPC (model predictive control)

Suggested Workflow

• If necessary, do research on the chosen method.
• Implement the controller and tune it using the simulator.
• Test different scenarios in the simulator.

Specifications

• Output message must be a Wrench Message
• The topic name for the output message must be "thrust/wrench_input"
• The tuning parameters should be in a config file.

Contacts

• @Andeshog

Code Quality

• [ ] Every function in header files are documented (inputs/returns/exceptions)
• [ ] The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• [ ] The code is documented on the wiki (provide link)

[chrstrom]

Note the potential kok from here