FeedBack Controller

Some of the controllers can be coupled with primary controllers (discussed above) as 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