PID Control for self-driving

Udacity Self-Driving Engineer Nanodegree. Term 2, assignment 3

The assignment

The simulator data

The effect of the P, I and D components

PID controller

Proportional control

I and D parameters omitted

Derivative control

Integral control

Final model for the PID controller

Choosing the hyperparameters

1 - Set all gains to zero.
2 - Increase the P gain until the response to a disturbance is steady oscillation.
3 - Increase the D gain until the the oscillations go away (i.e. it’s critically damped).
4 - Repeat steps 2 and 3 until increasing the D gain does not stop the oscillations.
5 - Set P and D to the last stable values.
6 - Increase the I gain until it brings you to the setpoint with the number of oscillations desired

Speed control

Final simulation

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