FeedbackController Class Reference

PID feedback controller with anti-windup integral clamping. More...

#include <FeedbackController.h>

Inheritance diagram for FeedbackController:

Public Member Functions
void	reset () override
	Resets all internal state including the integral term. More...
void	resetAllExceptDepthIntegral ()
	Resets all internal state except the depth (Z) integral term. More...
Vector6d	getForce (const State &goal, const State &curr, double dt) override
	Computes the PID feedback force from the goal and current state. More...
void	save_integral ()
	Saves a snapshot of the current integral term for later restoration. More...
void	load_integral ()
	Restores the integral term from the most recent saved snapshot. More...
void	ramp_integral (double ratio)
	Interpolates the integral term between its current value and the saved snapshot. More...
Vector6d	getIntegralError () const
	Returns the most recently computed body-frame integral error. More...
Vector6d	getPoseError () const
	Returns the most recently computed body-frame pose error. More...
Vector6d	getTwistError () const
	Returns the most recently computed body-frame twist error. More...
Vector6d	getIntegralForce () const
	Returns the most recently computed integral force contribution. More...
void	setIntegral (const Vector6d &i)
	Directly sets the integral accumulator. More...
	BaseControllerInterface ()=default
	BaseControllerInterface (std::shared_ptr< SystemDynamicsBase > auv, std::shared_ptr< ControllerConfig > config)
	Constructs a controller with the given dynamics model and config. More...
Public Member Functions inherited from BaseControllerInterface
	BaseControllerInterface ()=default
	BaseControllerInterface (std::shared_ptr< SystemDynamicsBase > auv, std::shared_ptr< ControllerConfig > config)
	Constructs a controller with the given dynamics model and config. More...
virtual	~BaseControllerInterface ()=default

Public Attributes
bool	saturatedOnYawXYAxis = false
	True when the X, Y, or Yaw thruster axes are saturated. More...
bool	saturatedOnDepthRollPitchAxis = false
	True when the Z, Roll, or Pitch thruster axes are saturated. More...

Additional Inherited Members
Protected Attributes inherited from BaseControllerInterface
std::shared_ptr< SystemDynamicsBase >	auv_
	Vehicle dynamics model shared with all controllers in a stack. More...
std::shared_ptr< ControllerConfig >	config_
	Tuning parameters shared with all controllers in a stack. More...

Detailed Description

PID feedback controller with anti-windup integral clamping.

Computes proportional, integral, and derivative forces from the body-frame pose, integral, and twist errors respectively. Separate gain sets can be activated near the water surface. The integral term is clamped when any thruster axis is saturated to prevent windup.

Member Function Documentation

BaseControllerInterface() [1/2]

BaseControllerInterface::BaseControllerInterface

default

BaseControllerInterface() [2/2]

BaseControllerInterface::BaseControllerInterface

inline

Constructs a controller with the given dynamics model and config.

Parameters

auv	[in] Shared vehicle dynamics model
config	[in] Shared controller tuning parameters

getForce()

Vector6d FeedbackController::getForce ( const State &  goal, const State &  curr, double  dt  )

overridevirtual

Computes the PID feedback force from the goal and current state.

Parameters

goal	[in] Desired vehicle state
curr	[in] Current vehicle state
dt	[in] Time step in seconds used for integral accumulation

Returns

6-element PID force/torque vector in N and Nm

Implements BaseControllerInterface.

getIntegralError()

Vector6d FeedbackController::getIntegralError

(

)

const

Returns the most recently computed body-frame integral error.

Returns

6-element integral error vector

getIntegralForce()

Vector6d FeedbackController::getIntegralForce

(

)

const

Returns the most recently computed integral force contribution.

Returns

6-element integral force vector

getPoseError()

Vector6d FeedbackController::getPoseError

(

)

const

Returns the most recently computed body-frame pose error.

Returns

6-element pose error vector

getTwistError()

Vector6d FeedbackController::getTwistError

(

)

const

Returns the most recently computed body-frame twist error.

Returns

6-element twist error vector

load_integral()

void FeedbackController::load_integral

(

)

Restores the integral term from the most recent saved snapshot.

ramp_integral()

void FeedbackController::ramp_integral

(

double

ratio

)

Interpolates the integral term between its current value and the saved snapshot.

Parameters

ratio

[in] Blending ratio in [0, 1]; 1.0 fully loads the saved integral

reset()

void FeedbackController::reset ( )

overridevirtual

Resets all internal state including the integral term.

Reimplemented from BaseControllerInterface.

resetAllExceptDepthIntegral()

void FeedbackController::resetAllExceptDepthIntegral

(

)

Resets all internal state except the depth (Z) integral term.

save_integral()

void FeedbackController::save_integral

(

)

Saves a snapshot of the current integral term for later restoration.

The snapshot is zeroed if either thruster axis group is saturated.

setIntegral()

void FeedbackController::setIntegral

(

const Vector6d &

i

)

Directly sets the integral accumulator.

Parameters

i	[in] New integral value

Member Data Documentation

saturatedOnDepthRollPitchAxis

bool FeedbackController::saturatedOnDepthRollPitchAxis = false

True when the Z, Roll, or Pitch thruster axes are saturated.

saturatedOnYawXYAxis

bool FeedbackController::saturatedOnYawXYAxis = false

True when the X, Y, or Yaw thruster axes are saturated.

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The documentation for this class was generated from the following files:

• include/controller/FeedbackController.h
• src/controller/FeedbackController.cpp