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