PID controller. More...

#include <pid_controller.h>

Inheritance diagram for corbo::PidController:

Public Member Functions
void	getAvailableSignals (SignalTargetInterface &signal_target, const std::string &ns="") const override
	Retrieve available signals from the controller. More...

int	getControlInputDimension () const override
	Return the control input dimension. More...

const double &	getGainD () const
	Set differential gain. More...

const double &	getGainI () const
	Set integral gain. More...

const double &	getGainP () const

Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

int	getStateDimension () const override
	Return the dimension of the required plant state/output. More...

ControllerStatistics::Ptr	getStatistics () const override

bool	hasPiecewiseConstantControls () const override
	Return true if the controller returns piecewise constant control pieces. More...

	PidController ()

bool	providesFutureControls () const override

bool	providesFutureStates () const override

void	publishError (bool active)
	Specify whether the control error should be published via signal. More...

void	reset () override
	Reset internal controller state and caches. More...

void	setGainD (double d_gain)

void	setGainI (double i_gain)

void	setGainP (double p_gain)
	Set proportional gain. More...

void	setNumParallelPid (int num_parallel_pid)

bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, TimeSeries::Ptr u_sequence, TimeSeries::Ptr x_sequence, SignalTargetInterface signal_target=nullptr, ReferenceTrajectoryInterface sref=nullptr, ReferenceTrajectoryInterface xinit=nullptr, ReferenceTrajectoryInterface uinit=nullptr, const std::string &ns="") override

Public Member Functions inherited from corbo::ControllerInterface
virtual double	getControlDuration () const
	Return the duration for which the control u obtained from step() is valid (useful for asynchronous control) More...

virtual bool	initialize (const StateVector &x, ReferenceTrajectoryInterface &expected_xref, ReferenceTrajectoryInterface &expected_uref, const Duration &expected_dt, const Time &t, ReferenceTrajectoryInterface *expected_sref=nullptr)
	Initialize the controller. More...

virtual void	sendSignals (double t, SignalTargetInterface &signal_target, const std::string &ns="") const

virtual bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, ControlVector &u, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")
	Perform actual controller step / control law computation. More...

virtual bool	supportsAsynchronousControl () const
	Specify whether the controllers step function is independent of dt and getControlDuration() returns a valid value. More...

virtual	~ControllerInterface ()
	Virtual destructor. More...

Static Public Member Functions
static Ptr	getInstanceStatic ()
	Return a newly created shared instance of the implemented class (static method) More...

Static Public Member Functions inherited from corbo::ControllerInterface
static Factory< ControllerInterface > &	getFactory ()
	Get access to the associated factory. More...

Private Attributes
std::vector< double >	_d_error

double	_d_gain = 0.0

std::vector< double >	_i_error

double	_i_gain = 0.0

int	_num_parallel_pid = 1

std::vector< double >	_p_error

double	_p_gain = 0.2

bool	_publish_error = true

Additional Inherited Members
Public Types inherited from corbo::ControllerInterface
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< ControllerInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< ControllerInterface >

Detailed Description

PID controller.

Implementation of a discrete-time PID controller.

See also: ControllerInterface LqrController PredictiveController

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Todo:: Anti-windup implementation

Definition at line 46 of file pid_controller.h.

Constructor & Destructor Documentation

◆ PidController()

corbo::PidController::PidController ( )

Definition at line 32 of file pid_controller.cpp.

Member Function Documentation

◆ getAvailableSignals()

void corbo::PidController::getAvailableSignals	(	SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

overridevirtual

Retrieve available signals from the controller.

Register a-priori known signals at the signal target. Registration is optional. Note, during step() execution further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).

Parameters

[in,out] signal_target Target for occuring signals [optional]

Reimplemented from corbo::ControllerInterface.

Definition at line 88 of file pid_controller.cpp.

◆ getControlInputDimension()

int corbo::PidController::getControlInputDimension ( ) const

inlineoverridevirtual

Return the control input dimension.

Implements corbo::ControllerInterface.

Definition at line 52 of file pid_controller.h.

◆ getGainD()

const double& corbo::PidController::getGainD ( ) const

inline

Set differential gain.

Definition at line 74 of file pid_controller.h.

◆ getGainI()

const double& corbo::PidController::getGainI ( ) const

inline

Set integral gain.

Definition at line 71 of file pid_controller.h.

◆ getGainP()

const double& corbo::PidController::getGainP ( ) const

inline

Definition at line 67 of file pid_controller.h.

◆ getInstance()

Ptr corbo::PidController::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::ControllerInterface.

Definition at line 63 of file pid_controller.h.

◆ getInstanceStatic()

static Ptr corbo::PidController::getInstanceStatic ( )

inlinestatic

Return a newly created shared instance of the implemented class (static method)

Definition at line 65 of file pid_controller.h.

◆ getStateDimension()

int corbo::PidController::getStateDimension ( ) const

inlineoverridevirtual

Return the dimension of the required plant state/output.

Depending on the controller type, the state dimension can also be just the plant output or the complete measured or observed state vector.

Returns: the controllers state dimension

Implements corbo::ControllerInterface.

Definition at line 54 of file pid_controller.h.

◆ getStatistics()

ControllerStatistics::Ptr corbo::PidController::getStatistics ( ) const

inlineoverridevirtual

Reimplemented from corbo::ControllerInterface.

Definition at line 94 of file pid_controller.h.

◆ hasPiecewiseConstantControls()

bool corbo::PidController::hasPiecewiseConstantControls ( ) const

inlineoverridevirtual

Return true if the controller returns piecewise constant control pieces.

Returns: true if the controls are piecewise constant

Implements corbo::ControllerInterface.

Definition at line 56 of file pid_controller.h.

◆ providesFutureControls()

bool corbo::PidController::providesFutureControls ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 58 of file pid_controller.h.

◆ providesFutureStates()

bool corbo::PidController::providesFutureStates ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 60 of file pid_controller.h.

◆ publishError()

void corbo::PidController::publishError ( bool active )

inline

Specify whether the control error should be published via signal.

Definition at line 107 of file pid_controller.h.

◆ reset()

void corbo::PidController::reset ( )

overridevirtual

Reset internal controller state and caches.

Implements corbo::ControllerInterface.

Definition at line 98 of file pid_controller.cpp.

◆ setGainD()

void corbo::PidController::setGainD ( double d_gain )

inline

Definition at line 75 of file pid_controller.h.

◆ setGainI()

void corbo::PidController::setGainI ( double i_gain )

inline

Definition at line 72 of file pid_controller.h.

◆ setGainP()

void corbo::PidController::setGainP ( double p_gain )

inline

Set proportional gain.

Definition at line 69 of file pid_controller.h.

◆ setNumParallelPid()

void corbo::PidController::setNumParallelPid ( int num_parallel_pid )

inline

Definition at line 77 of file pid_controller.h.

◆ step()

bool corbo::PidController::step	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		const Duration &	dt,
		const Time &	t,
		TimeSeries::Ptr	u_sequence,
		TimeSeries::Ptr	x_sequence,
		SignalTargetInterface *	signal_target = `nullptr`,
		ReferenceTrajectoryInterface *	sref = `nullptr`,
		ReferenceTrajectoryInterface *	xinit = `nullptr`,
		ReferenceTrajectoryInterface *	uinit = `nullptr`,
		const std::string &	ns = `""`
	)

overridevirtual

Implements corbo::ControllerInterface.

Definition at line 34 of file pid_controller.cpp.

Member Data Documentation

◆ _d_error

std::vector<double> corbo::PidController::_d_error

private

Definition at line 118 of file pid_controller.h.

◆ _d_gain

double corbo::PidController::_d_gain = 0.0

private

Definition at line 113 of file pid_controller.h.

◆ _i_error

std::vector<double> corbo::PidController::_i_error

private

Definition at line 117 of file pid_controller.h.

◆ _i_gain

double corbo::PidController::_i_gain = 0.0

private

Definition at line 112 of file pid_controller.h.

◆ _num_parallel_pid

int corbo::PidController::_num_parallel_pid = 1

private

Definition at line 121 of file pid_controller.h.

◆ _p_error

std::vector<double> corbo::PidController::_p_error

private

Definition at line 116 of file pid_controller.h.

◆ _p_gain

double corbo::PidController::_p_gain = 0.2

private

Definition at line 111 of file pid_controller.h.

◆ _publish_error

bool corbo::PidController::_publish_error = true

private

Definition at line 123 of file pid_controller.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PidController()

Member Function Documentation

◆ getAvailableSignals()

◆ getControlInputDimension()

◆ getGainD()

◆ getGainI()

◆ getGainP()

◆ getInstance()

◆ getInstanceStatic()

◆ getStateDimension()

◆ getStatistics()

◆ hasPiecewiseConstantControls()

◆ providesFutureControls()

◆ providesFutureStates()

◆ publishError()

◆ reset()

◆ setGainD()

◆ setGainI()

◆ setGainP()

◆ setNumParallelPid()

◆ step()

Member Data Documentation

◆ _d_error

◆ _d_gain

◆ _i_error

◆ _i_gain

◆ _num_parallel_pid

◆ _p_error

◆ _p_gain

◆ _publish_error