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Why only is a PID controller used in ROS Control ?

asked 2020-11-12 05:35:40 -0600

electrophod gravatar image

updated 2020-11-12 05:36:03 -0600

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 ?

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answered 2020-11-12 06:29:45 -0600

gvdhoorn gravatar image

updated 2020-11-12 06:30:19 -0600

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.

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answered 2020-11-12 05:56:36 -0600

navdlee gravatar image

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.

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Asked: 2020-11-12 05:35:40 -0600

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Last updated: Nov 12 '20