FeedBack Controller

Some of the controllers can be coupled with primary controllers (discussed above) and as a secondary controller. The PID controller is one controller which can be used as both primary, as well as a secondary controller.

Use Case

  • Integral control coupled with Feedforward longitudinal controller reduces the steady state error (if any).
  • Slip Controller added on top of other controllers prevents vehicle from slipping.
[MANEUVER_1]
TASK = 'STANDARD' 
(CONTROLLERS)
{DRIVER_SIGNAL      PRIMARY_CONTROLLER          ADDITIONAL_CONTROLLER}
 STEER              FEEDFORWARD_STEERING        NONE
 THROTTLE           FEEDFORWARD_TRACTION        I_CONTROLLER
 BRAKE              FEEDFORWARD_TRACTION        I_CONTROLLER
[I_CONTROLLER]
TAG = 'PID'
TYPE = 'FOLLOW_VELOCITY'
DEMAND_SIGNAL = 'DEMAND_SPEED'
I_ACTIVE_BAND = 3
KI    = 100