@PlaneFlightX Hmm, you can probably smooth the jerky motion by deriving a proportional gain with respect to the first rate of change. That way it should discourage any oscillation disturbances, so any sudden changes is smoothed and the proportional gain approaches zero as your oscillations approaches zero.
@BaconAircraft Yeah, I was trying to fix the jerky motion from the original and thought this would help. It sort fixes things, however by fixing some things with the target using smoothing it also helped. I recently learned about sine waves in school and am going to put that to use for even smoother transitions.
I commemorate you for actually using a PID controller for this.
Tbh if I would just slap a 2nd order smooth function on a bang-bang controller and call it a day lmao. Same result for 1/100th of the effort.
@PlaneFlightX Hmm, you can probably smooth the jerky motion by deriving a proportional gain with respect to the first rate of change. That way it should discourage any oscillation disturbances, so any sudden changes is smoothed and the proportional gain approaches zero as your oscillations approaches zero.
@BaconAircraft Yeah, I was trying to fix the jerky motion from the original and thought this would help. It sort fixes things, however by fixing some things with the target using smoothing it also helped. I recently learned about sine waves in school and am going to put that to use for even smoother transitions.
I commemorate you for actually using a PID controller for this.
Tbh if I would just slap a 2nd order smooth function on a bang-bang controller and call it a day lmao. Same result for 1/100th of the effort.
Nice