cnpcshangbo / drone-visual-servoing-with-a-controller-in-matlab Goto Github PK

https://drive.google.com/file/d/0B2fvRttkMQIpdkZRRTlLWW9CRWs/view

Think of a control structure for this system

The link in the setup "Set up development environment according to http://docs.erlerobotics.com/simulation/configuring_your_environment"
does not lead to any actual setup page

• We found the err feedback has a very large value at the beginning which charged the integrator a lot. We may want to investigate why it has this large value. A simple method to skip this is to add a limit to filter this large value.
• We found the anti-windup is working too slow. We'll try to change the anti-windup gain.
• How to calculate the back-calculation gain Kb. The inverse of this gain is the time constant of the anti-windup loop [1].
  Reference:
  [1] K. Åström, T. Hägglund, Advanced PID Control, ISA, Research Triangle Park, NC, August 2005.