matlab如何实现PID控制小车前进到指定位置

分为三步：

根据目标位置确定小车前进方向

计算目标方向与当前方向的差异

选取适当PID参数驱动左右轮运转

首先打开这个文件

在

实现PID控制小车前进到指定位置

%% START CODE BLOCK %%

% 1. Calculate the heading (angle) to the goal.

% distance between goal and robot in x-direction

u_x = x_g-x;

% distance between goal and robot in y-direction

u_y = y_g-y;

% angle from robot to goal. Hint: use ATAN2, u_x, u_y here.

theta_g = atan2(u_y,u_x);

% 2. Calculate the heading error.

% error between the goal angle and robot's angle

% Hint: Use ATAN2 to make sure this stays in [-pi,pi].

e_k = atan2(sin(theta_g-theta),cos(theta_g-theta));

% 3. Calculate PID for the steering angle

% error for the proportional term

e_P = e_k;

% error for the integral term. Hint: Approximate the integral using

% the accumulated error, obj.E_k, and the error for

% this time step, e_k.

e_I = obj.E_k + e_k*dt;

% error for the derivative term. Hint: Approximate the derivative

% using the previous error, obj.e_k_1, and the

% error for this time step, e_k.

e_D = (e_k-obj.e_k_1)/dt;

%% END CODE BLOCK %%

最后运行