Figure 13.9: Torque Controller
The torque controller was used to transform the desired velocity and heading into independent wheel torques, based on the present state of the vehicle. Using this method of subsystems, this is the only subsystem that would need to be replaced if another type of vehicle were to be used.
The torque control was solved by a simple P-D controller. This is the only subsystem that uses direct feed back of the vehicle state.
The only point that needs to be made about design is that four independent P-D controllers where used. Also, because this is not a stabilization problem where the set point remains fixed, it was not practical or necessary to use integral coefficients. The proportional and differential coefficients were sufficient.
This module is part of a robotics simulation that was demonstrated in a Master's Thesis entitled: