pd documentation #95
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pd documentation #95
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…i into PD-controller-documentation
balisujohn
reviewed
Jul 17, 2023
| # is approaching the target position. When the agent is moving quickly towards the target, the | ||
| # derivative term will be larger, contributing to a stronger corrective action from the controller. | ||
| # On the other hand, if the agent is already close to the target and moving slowly, the derivative term will be smaller, | ||
| # resulting in a less aggressive control action. | ||
| # references. |
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These lines are probably a typo.
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Oh I suspect I was trying to justify why we had a pure velocity term as opposed to a first order differential error rate.
Yeah i think the reference can go
…i into PD-controller-documentation
|
LGTM :^) |
balisujohn
approved these changes
Jul 17, 2023
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Improved Documentation for PD controller in the tutorial
Further break down of what a PD controller was, was given, as well as explanations of the choice of equation we choose to implement.