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5 lines
348 B
TeX
5 lines
348 B
TeX
\subsection{Proportional-Integral-Differential (PID)}
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$u(t) = k_p e(t) + k_i \int_{t_0}^{t} e(\tau) \dx \tau + k_d \frac{\dx e(t)}{\dx t}$, where params $k_p$ (curr), $k_i$ (long-term), $k_d$ (trend) reduce corresp. errors
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\bi{Drone Control} ${_B}\vec{F}$ and ${_B}\vec{M}$ as in sect. \ref{sec:rigid-body-dynamics}, use $\vec{u}' = {_B}\vec{M}$.
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