double_pendulum.controller.pid

Submodules

double_pendulum.controller.pid.point_pid_controller

class double_pendulum.controller.pid.point_pid_controller.PointPIDController(torque_limit=[1.0, 1.0], dt=0.01)

Bases: AbstractController

PID controller with a fix state as goal.

Parameters:

torque_limitarray_like, optional

shape=(2,), dtype=float, default=[1.0, 1.0] torque limit of the motors [tl1, tl2], units=[Nm, Nm]

dtfloat

timestep , unit=[s] (Default value=0.01)

get_control_output_(x, t=None)

The function to compute the control input for the double pendulum’s actuator(s).

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

init_()

Initialize the controller.

save_(save_dir)

Save the energy trajectory to file.

Parameters:

pathstring or path object

directory where the parameters will be saved

set_goal(x)

set_goal. Set goal for the controller.

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

set_parameters(Kp, Ki, Kd)

Set controller gains.

Parameters:

Kpfloat

Gain for position error

Kifloat

Gain for integrated error

Kdfloat

Gain for differentiated error

double_pendulum.controller.pid.trajectory_pid_controller

class double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController(T=None, X=None, U=None, csv_path=None, use_feed_forward_torque=True, torque_limit=[0.0, 1.0], num_break=40)

Bases: AbstractController

PID controller for following a trajectory.

Parameters:

Tarray_like

shape=(N,) time points of reference trajectory, unit=[s] (Default value=None)

Xarray_like

shape=(N, 4) reference trajectory states order=[angle1, angle2, velocity1, velocity2] units=[rad, rad, rad/s, rad/s] (Default value=None)

Uarray_like

shape=(N, 2) reference trajectory actuations/motor torques order=[u1, u2], units=[Nm] (Default value=None)

csv_pathstring or path object

path to csv file where the trajectory is stored. csv file should use standarf formatting used in this repo. If T, X, or U are provided they are preferred. (Default value=None)

use_feed_forward_torquebool

whether to use feed forward torque for the control output (Default value=True)

torque_limitarray_like, optional

shape=(2,), dtype=float, default=[0.0, 1.0] torque limit of the motors [tl1, tl2], units=[Nm, Nm]

num_breakint

number of break points used for interpolation (Default value = 40)

get_control_output_(x, t)

The function to compute the control input for the double pendulum’s actuator(s).

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

get_init_trajectory()

Get the initial (reference) trajectory used by the controller.

Returns:

numpy_array

time points, unit=[s] shape=(N,)

numpy_array

shape=(N, 4) states, units=[rad, rad, rad/s, rad/s] order=[angle1, angle2, velocity1, velocity2]

numpy_array

shape=(N, 2) actuations/motor torques order=[u1, u2], units=[Nm]

init_()

Initialize the controller.

save_(save_dir)

Save the energy trajectory to file.

Parameters:

pathstring or path object

directory where the parameters will be saved

set_parameters(Kp, Ki, Kd)

Set controller gains.

Parameters:

Kpfloat

Gain for position error

Kifloat

Gain for integrated error

Kdfloat

Gain for differentiated error