- Low-level: velocity controller We want to control the vehicle in velocity. Therefore, we need to transform a desired l

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Low Level Velocity Controller We Want To Control The Vehicle In Velocity Therefore We Need To Transform A Desired L 1 (127.11 KiB) Viewed 48 times

using python.
- Low-level: velocity controller We want to control the vehicle in velocity. Therefore, we need to transform a desired linear and angular velocities (i.e., [va, wa) into a (Tf, tt). To this end we are going to program the following PID controller: T= K, (e+ 7. Só e dť + Tami) where e is the error between the desired velocity and the current one, Sie dt' is the accumulated error and is the current error divided by the elapsed time. Exercise 2 Implement a function that given the current state and the desired velocity (i.e., [vd, wa]) returns the computed control input (i.e., (T1, Tel). Tune the system (i.e., set values for Kp,T; and Ta) to reach velocities close to 0.8m/s and 0.25rad/s without having a significant peak. Note: Clip the accumulated error between some boundaries to avoid large values.