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what is proxy controller?

asked 2013-06-03 10:32:46 -0500

AdrianPeng gravatar image

updated 2013-11-18 16:55:18 -0500

tfoote gravatar image

Hi,

In joint_trajectory_action_controller, there is a proxy controller mode. I am wondering what is proxy controller? What's difference between proxy controller and normal pid controller?

Thanks for any help in advance!

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answered 2013-06-03 21:40:41 -0500

Adolfo Rodriguez T gravatar image

A proxy controller allows to converge to a reference signal without overshoots, especially when the reference is far from the current state. The cpp file has a more detailed description.

I created an issue to move the documentation to the header with proper Doxygen tags, so it can be easier to find.

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Hi Adolfo, I try to read the cpp file, but I found it's hard for me to understand it especially I have no idea about the concept of proxy controller. Could you please give me a link which describing the concept and principle of proxy control? Thx a lot!

AdrianPeng gravatar image AdrianPeng  ( 2013-06-23 11:20:01 -0500 )edit

I'm not a user of this feature, and can't say if the implementation maps a reference publication 1:1, or whether the authors introduced custom modifications. You might consider contacting the original authors, or someone familiar with this specific implementation. That's as much as I can help.

Adolfo Rodriguez T gravatar image Adolfo Rodriguez T  ( 2013-06-24 01:52:42 -0500 )edit

Ok, thank you!

AdrianPeng gravatar image AdrianPeng  ( 2013-06-24 03:41:16 -0500 )edit

It appears that as of Hydro, control_toolbox has moved to https://github.com/ros-controls/contr... . The version for groovy is https://github.com/ros-controls/ros_c...

gustavogoretkin gravatar image gustavogoretkin  ( 2015-03-16 13:39:46 -0500 )edit

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Asked: 2013-06-03 10:32:46 -0500

Seen: 600 times

Last updated: Jun 03 '13