Closed Loop Controllers
Closed-loop controllers use vehicle responses (for example, speed, position, yaw rate, etc.) as feedback to determine the vehicle inputs needed to match a desired vehicle response, such as following a path.
Closed loop controllers typically compute the error between a desired response and the actual vehicle response and use the error to calculate the vehicle inputs. Each vehicle input (driver output) can employ one or more closed loop controllers during a maneuver.
Use Cases
- Follow a path
- Follow a velocity/acceleration profile
- Follow a racing line for multiple laps
The following closed loop controllers are currently available:
- Throttle and Brake Controllers
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- Feedforward Traction Controller
- Feedback Traction Controller - PID Controller
- Steering Controllers
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- Feedforward Steering Controller
- Gear and Clutch Controllers
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- Engine Speed Controller
- Additional Controllers
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- Feedback Controller