What control laws are you using?

[jesusrambo]

We're using the standard PID controller that comes from WPILIBJ in several places in our code. We just had a random thought, wondering what you other teams might be using for control law. Are your mentors having you do anything more advanced or different? Is it all code, or math-based like a PID controller?

If you're willing, please go into as much detail as you can. It's just an interesting question for us, and maybe it'll help some other teams too.

Thanks!

[Ether]

please go into as much detail as you can

If you want detail about PID, check out pages 198-209 & 817-827 in the CRC Control Handbook:

[jesusrambo]

If you want detail about PID, check out pages 198-209 & 817-827 in the CRC Control Handbook:

I have a PhD candidate mentoring us in control, that's not the question. I was asking what other teams are using, and how they're implementing it.

[Ether]

I should have been clearer. The pronoun "you" in my post was intended to be generic; it was not directed at you personally. No offense was intended.

[jesusrambo]

None taken.

[Hugh Meyer]

If you want detail about PID, check out pages 198-209 & 817-827 in the CRC Control Handbook:

Ether,

Is this newer version good or should I get the 1996 version that you show?

http://www.amazon.com/Control-Systems-Handbook-Second-Edition/dp/1420073648/ref=sr_1_1?ie=UTF8&qid=1359228901&sr=8-1&keywords=The+control+handbook+william+s+levine

-Hugh

[Ether]

Ether,

Is this newer version good or should I get the 1996 version that you show?

http://www.amazon.com/Control-Systems-Handbook-Second-Edition/dp/1420073648/ref=sr_1_1?ie=UTF8&qid=1359228901&sr=8-1&keywords=The+control+handbook+william+s+levine

-Hugh

Ah. I hadn't checked to see if a newer edition was available. I have the 1996 edition here. From a very brief review, it looks like the 2011 edition covers all the topics in the 1996 edition, but they re-arranged the sections. I'll take a closer look.

[Ether]

it looks like the 2011 edition covers all the topics in the 1996 edition, but they re-arranged the sections

Hugh,

Here's a link to the 1996 edition Table of Contents:
http://ether.comeze.com/FRC/CRC1996ToC/


To answer the OP's question, bang-bang (http://www.chiefdelphi.com/media/papers/2663) was a successful method last year for shooter wheel speed control.

Team 123 used TBH last year: http://www.chiefdelphi.com/media/papers/2674

[jesusrambo]

Excellent, thanks Ether. Have you heard of any teams doing multiple input/output controllers?

[Ether]

Excellent, thanks Ether. Have you heard of any teams doing multiple input/output controllers?

No, but I've seen a few posts about Kalman filters... but not much implementation detail or data.

[jesusrambo]

Hmm... That's something we were wondering about, specifically if they're viable to implement without access to the FPGA.

[flameout]

Team 254 did a MIMO controller two years ago. They utilized state space techniques, but I'm not aware if they used pole-placement, LQR, or something else to design their controllers.

There's a thread on it at http://www.chiefdelphi.com/forums/showthread.php?t=98267

[jesusrambo]

Team 254 did a MIMO controller two years ago. They utilized state space techniques, but I'm not aware if they used pole-placement, LQR, or something else to design their controllers.

There's a thread on it at http://www.chiefdelphi.com/forums/showthread.php?t=98267

Very interesting. Thank you!