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feat(controls): Adaptive PID — auto-tuning balance controller based on payload weight #136

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opened 2026-03-02 09:27:28 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:27:28 -05:00
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Summary

Self-tuning PID controller that adapts gains based on detected payload/weight changes.

Requirements

  • Weight estimation: Estimate total robot weight from motor current draw at steady state
  • Gain scheduling: Pre-computed PID gain tables for weight ranges (empty, light, heavy)
  • Online adaptation: Gradual gain adjustment when weight change detected mid-operation
  • Safety bounds: PID gains clamped to safe ranges, revert to defaults if unstable
  • Calibration routine: On-demand weight calibration procedure (rock back and forth)
  • ROS2 params: Dynamic reconfigure for manual gain override
  • Logging: Log weight estimates and gain changes for offline analysis

Agent: sl-controls

Labels: phase-2, pid

## Summary Self-tuning PID controller that adapts gains based on detected payload/weight changes. ## Requirements - **Weight estimation**: Estimate total robot weight from motor current draw at steady state - **Gain scheduling**: Pre-computed PID gain tables for weight ranges (empty, light, heavy) - **Online adaptation**: Gradual gain adjustment when weight change detected mid-operation - **Safety bounds**: PID gains clamped to safe ranges, revert to defaults if unstable - **Calibration routine**: On-demand weight calibration procedure (rock back and forth) - **ROS2 params**: Dynamic reconfigure for manual gain override - **Logging**: Log weight estimates and gain changes for offline analysis ## Agent: sl-controls ## Labels: phase-2, pid
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#136
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