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PID Controller as an actuator plugin.

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Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
This commit is contained in:
Nimrod Gileadi
2023-11-25 08:40:13 -08:00
committed by Copybara-Service
parent d070b1893e
commit 002b427a32
14 changed files with 1237 additions and 3 deletions
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model/plugin/actuator/pid.xml
+68
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<mujoco model="PID Controllers">
<size memory="10M"/>
<visual>
<headlight diffuse=".2 .2 .2"/>
<global elevation="-30" />
</visual>
<statistic extent="0.50" />
<extension>
<plugin plugin="mujoco.pid">
<!-- pure proportional gain, bounces up and down -->
<instance name="pid1">
<config key="kp" value="4.0"/>
</instance>
<!-- PD controller - settles below setpoint -->
<instance name="pid2">
<config key="kp" value="4.0"/>
<config key="kd" value="0.4"/>
</instance>
<!-- PID controller - reaches setpoint -->
<instance name="pid3">
<config key="kp" value="4.0"/>
<config key="ki" value="4"/>
<config key="kd" value="0.4"/>
</instance>
<!-- PID controller with clamped I term. -->
<instance name="pid4">
<config key="kp" value="4.0"/>
<config key="ki" value="4"/>
<config key="kd" value="0.4"/>
<config key="imax" value=".5"/>
</instance>
</plugin>
</extension>
<default>
<geom type="sphere" size="0.01" rgba="1 1 1 1" />
</default>
<worldbody>
<light pos="0.4 -.15 .6" dir="-1 .5 -1" diffuse=".7 .7 .7"/>
<light pos="-.4 -.15 .6" dir="1 .5 -1" diffuse=".7 .7 .7"/>
<geom name="floor" type="plane" pos="0 0 -0.1" size="0 0 100" />
<body pos="-0.06 0 0">
<joint name="j1" type="slide" axis="0 0 1" />
<geom/>
</body>
<body pos="-0.02 0 0" >
<joint name="j2" type="slide" axis="0 0 1" />
<geom/>
</body>
<body pos="0.02 0 0" >
<joint name="j3" type="slide" axis="0 0 1" />
<geom/>
</body>
<body pos="0.06 0 0" >
<joint name="j4" type="slide" axis="0 0 1" />
<geom/>
</body>
</worldbody>
<actuator>
<plugin joint="j1" plugin="mujoco.pid" instance="pid1" ctrlrange="0 0.15" />
<plugin joint="j2" plugin="mujoco.pid" instance="pid2" ctrlrange="0 0.15" />
<plugin joint="j3" plugin="mujoco.pid" instance="pid3" ctrlrange="0 0.15" />
<plugin joint="j4" plugin="mujoco.pid" instance="pid4" ctrlrange="0 0.15" />
</actuator>
</mujoco>