On Sun, Mar 8, 2015 at 9:32 PM, Andy Zelenak via ros-users <ros-users@lists.ros.org> wrote:
Hello ROS community,

Hello Andy, thanks for sharing your work!.

These packages look more like examples or idea demonstrators, as they don't expose the controllers in a library, but rather generate executables. Users are likely to take more advantage of your contributions if you expose them in modular, ready to use units.


I'd like to announce two control packages that I hope are useful to the community. First is the basic pid package for the PID controllers that engineers love so much:


One of the nice features of the pid package is low-pass filtering on the data and the derivative calculation, which reduces noise and erratic control effort.

The control_toolbox [1] package, which has been around for a while, also implements a PID loop, and has already a quite extensive user base. What are your thought on contributing missing features as enhancements for the existing implementation?.


For more complicated control problems, there is the lyap_control package:


The repository URL contains your bitbucket user. You should use:

https://bitbucket.org/AndyZe/lyap_control

(remove 'AndyZe@' before bitbucket.org)


[1] https://github.com/ros-controls/control_toolbox


It can handle simple control problems too, but it really excels at high-order, coupled, over-actuated, or otherwise complicated systems. It can do some cool things like controlling seven motors simultaneously with minimal tuning.

Best,

Adolfo.
 

Cheers,

Andy

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Adolfo Rodríguez Tsouroukdissian
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