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2023-2024 Qubo Software Projects: Difference between revisions
controls
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== Controls ==
Controls as in [[wikipedia:Control_theory|"control theory"]]. Making Qubo be able to stand still (to fire torpedos accurately), move efficiently, etc.
=== Goals ===
# Make movement faster, more efficient, and more accurate.
# Track our position using available sensors.
# Be able to give Qubo a position and have it move there.
=== Current state ===
* Very simple, untuned P depth and PD yaw control
** Ballasts mostly hold roll and pitch, directly modified forward/sideways thrust
* Only track depth and orientation, no localization or sense or position
=== Things to work on ===
* Maybe: Ballasts will be removed, so we will have full 6 degrees of freedom to deal with
** We may end up keeping the ballasts though.
* How can we improve on our current control?
** Is it feasible to somewhat accurately model our robot? (determine hydrodynamic quantities like added mass, inertia, drag, etc.)
*** If so, what model-based control is best?
**** [https://quartz-suggestion-1ac.notion.site/LQR-d2bbc644378f4cab8ed08ce8c0a1acef?pvs=4 LQR]?
**** Sliding mode control?
**** Model predictive control?
*** If not, what control methods can we use?
**** PID?
***** MIMO with linear and angular positions?
***** Cascading PID?
**** Adaptive control?
**** Feedforward components?
* How can we use our sensors to track our position?
** Kalman filters
== Vision ==
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