PID actuator

Discussion in 'Modeling' started by jpsb, Apr 6, 2018.

  1. What is the easiest way to model a PID actuator? I am particularly interested on the Integral part.

    Thank you!
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    The integral part introduces another state variable. MuJoCo has 3-rd order actuators designed to model things like pneumatic cylinders and biological muscles. You could adapt it to represent the integral term. Then you need a second actuator for the PD term.

    Alternatively, you could implement this on your end as a feedback controller, and use simple force actuators in MuJoCo.