3 ms·
Technically, PID only makes sense for linear time-invariant systems. A quadrotor drone is inherently a nonlinear system but people use linear controllers on it
by ducktective 3y ago
Technically, PID only makes sense for linear time-invariant systems. A quadrotor drone is inherently a nonlinear system but people use linear controllers on it anyways.
I mean if we're going to use "AI" on controls, it better be looking for tuning something else, better still, we should only utilize the "optimization algorithms" parts of "AI" hence optimal control.
- blt 3y agoincorrect, most serious "PID controllers" for quadrotors are using geometric PID controllers that take nonlinearity into account, e.g. [1]. [1] Taeyoung Lee, Melvin Leok, N. Harris McClamroch. Geometric tracking control of a quadrotor UAV on SE(3). https://ieeexplore.ieee.org/abstract/document/5717652 https://ieeexplore.ieee.org/abstract/document/5717652
- ducktective 3y agoWell geometric PID controllers are not vanilla PID controllers for LTI systems that I was talking about... Also, and correct me if I'm wrong, I think in industry these vanilla PD/PID controllers are used for attitude and position control of quad-copters. Like, I don't think PX4 or BetaFlight implement any geometric controllers in their code bases.
- blt 3y agoPX4 does: https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/m...