MotionView User's Guide

Closed Loop Controllers

Closed Loop Controllers

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Closed Loop Controllers

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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
oFeedforward Traction Controller
oFeedback Traction Controller - PID Controller
•Steering Controllers
oFeedforward Steering Controller
•Gear and Clutch Controllers
oEngine Speed Controller
•Additional Controllers
oFeedback Controller