Turning Quality Metrics

[JamesTerm]

Originally Posted by kramarczyk

In reviewing this thread I see the discussion boiling down to seven metrics.[*]Overshoot (angular)[/list]

I found another solution to help address overshoot as even with a well-tuned robot this can still be an issue. I found this out yestday on my simulation http://youtu.be/MRPuvRUOB28 . Where if you have wheels that have lower CoF, it warrents the need for a slower acceleration and deceleration rate to avoid slipping. Even when getting this rate optimal I found the model not doing what I wanted it to do (over shoot), and I really got frustrated, so I remember coming across this some time ago:
http://www.chiefdelphi.com/media/papers/2421

And so I tried the X' = a1*X^3 + (1-a1)*X ... equation, and sure enough this made all the difference in the world. Thanks Ether.