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In the ros_control set of packages, why PID controller specifically is used in joint_state_controller, joint_position_controller, and joint_velocity_controller ? Why not any other control algorithms like MPC and LQR ?
Simple: because they worked sufficiently well for the (original) developers/maintainers of those packages, and no one else has made an effort to contribute more advanced algorithms.
If you see an opportunity to contribute something, please do.
One thing to consider is that PID controllers can run without needing a model of the system. You cannot do LQR or MPC control without at least a half-decent model of your system. PID controllers can be tuned in-the-loop and thus you can simply tune your gains in simulation or on hardware.
Asked: 2020-11-12 05:35:40 -0500
Seen: 304 times
Last updated: Nov 12 '20
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