tap::algorithms::FuzzyPD Class Reference

#include <fuzzy_pd.hpp>

Inheritance diagram for tap::algorithms::FuzzyPD:

Collaboration diagram for tap::algorithms::FuzzyPD:

Public Member Functions
	FuzzyPD (const FuzzyPDConfig &pdConfig, const SmoothPidConfig &smoothPidConfig)
float	runController (float error, float errorDerivative, float dt) override
Public Member Functions inherited from tap::algorithms::SmoothPid
	SmoothPid (const SmoothPidConfig &pidConfig)
float	runControllerDerivateError (float error, float dt)
float	getOutput ()
void	reset ()
void	setP (float p)
void	setI (float i)
void	setD (float d)
void	setMaxICumulative (float maxICumulative)
void	setMaxOutput (float maxOutput)
void	setErrDeadzone (float errDeadzone)

Detailed Description

Fuzzy PD controller. A controller that is built on top of the SmoothPid object.

Fuzzy logic is used to adaptively change the proportional and derivative gains at runtime, whereas they are hard-coded in the SmoothPid object. This allows the controller to adapt to more complex situations (such as overcoming sticktion, varying loads, etc.). Aside from adaptively changing the gains, this controller behaves the same was as the SmoothPid object.

For more general information about fuzzy PID, refer to this paper: https://ieeexplore.ieee.org/document/937407. You can also find others online. For a more generic look at fuzzy logic, you can refer to this paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=488475.

Note

While it is not explicitly disallowed, the integral gain is not intended to be used in this implementation. The FuzzyPDRuleTable is used in this controller, which does not have any fuzzy logic for the integral term.

Constructor & Destructor Documentation

FuzzyPD()

tap::algorithms::FuzzyPD::FuzzyPD	(	const FuzzyPDConfig &	pdConfig,
		const SmoothPidConfig &	smoothPidConfig
	)

Parameters

[in]	pdConfig	Fuzzy-specific configuration.
[in]	smoothPidConfig	PID-specific configuration.

Member Function Documentation

runController()

float tap::algorithms::FuzzyPD::runController ( float  error, float  errorDerivative, float  dt  )

overridevirtual

See also

SmoothPID::runController. Identical except that before the PID update step, new parameters are computed.

Reimplemented from tap::algorithms::SmoothPid.

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The documentation for this class was generated from the following files:

• fang-mcb-project/taproot/src/tap/algorithms/fuzzy_pd.hpp
• fang-mcb-project/taproot/src/tap/algorithms/fuzzy_pd.cpp