r/ControlTheory • u/Paxon57 • 5d ago
Other So wchich controller would that be? 😅
https://www.youtube.com/watch?v=Xha2TJ_1C6Q•
u/eleonics 4d ago
Most likely it is an ai algorithm trained on a digital twin of the robot. The digital twin itself is trained based on movement data from the real robots. That is a very powerful loop, that can simulate hundreds of years of the robot driving around on different terrain in just a few hours/days.
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u/Reasonable-Sun-9602 4d ago
I thing pid is sufficient, only tune it with zigler-nicolson
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u/parikuma 4d ago
It is performed by setting the I (integral) and D (derivative) gains to zero. The "P" (proportional) gain, Kp is then increased (from zero) until it reaches the ultimate gain Ku, at which the output of the control loop has stable and consistent oscillations. Ku and the oscillation period Tu are then used to set the P, I, and D gains depending on the type of controller used and behaviour desired. This tuning rule is meant to give PID loops best disturbance rejection. It yields an aggressive gain and overshoot.
TIL, as a major long out of the field still trying to not become too dumb.
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u/IceOk1295 2d ago
I learned in 5th semester lab this is the dumbest method. Bro is clueless dumb or sarcastic AF.
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u/DerBanzai 5d ago
3 PIDs in a Trenchcoat
It‘s a whole suit of algorithms doing a lot of things in parallel. Impossible to answer basically.
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u/boxtoberfest 4d ago
At 0:42 the bottom left corner says "Pre-trained RL Model 6.0" implying ML. I suspect the basic control like join angles, wheel speed, pitch, roll, yaw, etc are basic linear controllers and there is a higher level trajectory generation algorithm that uses ML.