[AMR] Intro to planning and control section

2026-05-30 16:21:19 +02:00 · 2026-05-04 15:13:47 +02:00
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+\subsection{Proportional-Integral-Differential (PID)}
+$u(t) = k_p e(t) + k_i \int_{t_0}^{t} e(\tau) \dx \tau + k_d \frac{\dx e(t)}{\dx t}$, where params $k_p$ (curr), $k_i$ (long-term), $k_d$ (trend) reduce corresp. errors
+
+\bi{Drone Control} ${_B}\vec{F}$ and ${_B}\vec{M}$ as in sect. \ref{sec:rigid-body-dynamics}, use $\vec{u}' = {_B}\vec{M}$.