📄️ Control Research
This is where we will compile new possible methods and algorithms for the control team. Feel free to add sources here. When you do please leave a short description of the method and how we can use it for WUAIR.
📄️ Necessary Background
This page will have the necessary resources for you to understand the basic intuition behind how we model the dynamics of the car. We won't have to go into too much detail on system modeling since we will not have to predict the state (position, velocity, steering angle etc.) of the car, we will just believe what the state estimation team tells us and decide based on that. The point of this document is simply to ensure the controls team understands what it is they are doing by forming an input based on the current state, the target state and a control law.
📄️ PID Control
A PID controller is a feedback control method used to make a system follow a desired value or trajectory. The name comes from its three components:
📄️ Gain scheduling
If math images are not rendering, a pre-compiled PDF version of this page is available here.
📄️ Model Predictive Control
What is it?