State feedback controller wigh feedback gain matrix K. More...

#include <simple_state_controller.h>

Inheritance diagram for corbo::SimpleStateController:

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...

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...

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

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

bool	providesFutureControls () const override

bool	providesFutureStates () const override

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

void	setFilterMatrixV (const Eigen::Ref< const Eigen::MatrixXd > &V)
	Set reference filter matrix V [control input dimension x output dimension]. More...

void	setGainMatrixK (const Eigen::Ref< const Eigen::MatrixXd > &K)
	Set feedback gain matrix K [control input dimension x state dimension]. More...

void	setPublishError (bool publish)
	Specify whether the state error should be published via signal. More...

	SimpleStateController ()=default

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 ControllerStatistics::Ptr	getStatistics () const

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...

Private Attributes
Eigen::MatrixXd	_K

bool	_publish_error = true

Eigen::MatrixXd	_V

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 >

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

Detailed Description

State feedback controller wigh feedback gain matrix K.

The controller implements the following control law: $ u = - K x $ . Herby the number of rows in K corresponds to state dimension and the number of columns to the control input dimension.

See also: ControllerInterface LqrController PidController 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)

Definition at line 46 of file simple_state_controller.h.

Constructor & Destructor Documentation

◆ SimpleStateController()

corbo::SimpleStateController::SimpleStateController ( )

default

Member Function Documentation

◆ getAvailableSignals()

void corbo::SimpleStateController::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 simple_state_controller.cpp.

◆ getControlInputDimension()

int corbo::SimpleStateController::getControlInputDimension ( ) const

inlineoverridevirtual

Return the control input dimension.

Implements corbo::ControllerInterface.

Definition at line 52 of file simple_state_controller.h.

◆ getInstance()

Ptr corbo::SimpleStateController::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::ControllerInterface.

Definition at line 63 of file simple_state_controller.h.

◆ getStateDimension()

int corbo::SimpleStateController::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 simple_state_controller.h.

◆ hasPiecewiseConstantControls()

bool corbo::SimpleStateController::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 simple_state_controller.h.

◆ initialize()

bool corbo::SimpleStateController::initialize	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	expected_xref,
		ReferenceTrajectoryInterface &	expected_uref,
		const Duration &	expected_dt,
		const Time &	t,
		ReferenceTrajectoryInterface *	expected_sref = `nullptr`
	)

overridevirtual

Initialize the controller.

Initialization should be optional but it should facilitate memory allocation and trajectory initialization respectively warm starting.

Parameters

[in]	x	Current plant state [getStateDimension() x 1]
[in]	expected_xref	State reference (writable in order to allow to the reference object to precompute caches)
[in]	expected_uref	Control reference (writable in order to allow to the reference object to precompute caches)
[in]	expected_dt	Expected sampling interval length (controller rate)
[in]	t	Current time stamp (can be sim-time or system-time, but compatible to state and control references)

Returns: true if initialization was successful, false otherwise.

Reimplemented from corbo::ControllerInterface.

Definition at line 37 of file simple_state_controller.cpp.

◆ providesFutureControls()

bool corbo::SimpleStateController::providesFutureControls ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 58 of file simple_state_controller.h.

◆ providesFutureStates()

bool corbo::SimpleStateController::providesFutureStates ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 60 of file simple_state_controller.h.

◆ reset()

void corbo::SimpleStateController::reset ( )

overridevirtual

Reset internal controller state and caches.

Implements corbo::ControllerInterface.

Definition at line 96 of file simple_state_controller.cpp.

◆ setFilterMatrixV()

void corbo::SimpleStateController::setFilterMatrixV ( const Eigen::Ref< const Eigen::MatrixXd > & V )

Set reference filter matrix V [control input dimension x output dimension].

Definition at line 35 of file simple_state_controller.cpp.

◆ setGainMatrixK()

void corbo::SimpleStateController::setGainMatrixK ( const Eigen::Ref< const Eigen::MatrixXd > & K )

Set feedback gain matrix K [control input dimension x state dimension].

Definition at line 33 of file simple_state_controller.cpp.

◆ setPublishError()

void corbo::SimpleStateController::setPublishError ( bool publish )

inline

Specify whether the state error should be published via signal.

Definition at line 95 of file simple_state_controller.h.

◆ step()

bool corbo::SimpleStateController::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 46 of file simple_state_controller.cpp.

Member Data Documentation

◆ _K

Eigen::MatrixXd corbo::SimpleStateController::_K

private

Definition at line 99 of file simple_state_controller.h.

◆ _publish_error

bool corbo::SimpleStateController::_publish_error = true

private

Definition at line 98 of file simple_state_controller.h.

◆ _V

Eigen::MatrixXd corbo::SimpleStateController::_V

private

Definition at line 100 of file simple_state_controller.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimpleStateController()

Member Function Documentation

◆ getAvailableSignals()

◆ getControlInputDimension()

◆ getInstance()

◆ getStateDimension()

◆ hasPiecewiseConstantControls()

◆ initialize()

◆ providesFutureControls()

◆ providesFutureStates()

◆ reset()

◆ setFilterMatrixV()

◆ setGainMatrixK()

◆ setPublishError()

◆ step()

Member Data Documentation

◆ _K

◆ _publish_error

◆ _V