Motor kit a tool to practice control theory, system Identification, filter design and implementations in microcontrollers and in ROS2.
- Control Systems: Design and implement PID controllers, compensators, and state-space controllers.
- System Identification: Tools to aid in identifying dynamic systems from input-output data.
- Filtering: Implement Kalman filters, state observers, and other filtering techniques.
- Integration with ROS 2: Seamlessly interfaces with ROS 2 for advanced robotics and control applications.
The architecture of the Motor Kit is modular and organized for easy customization. Below is an overview:
- Motor Kit: Acts as the main physical interface, housing the motor and encoder.
- Hardware Interface: Facilitates communication between the microcontroller and ROS 2 through serial data exchange.
- Controllers: Includes:
- PID: Proportional-Integral-Derivative controllers for precise control.
- Compensators: To modify system dynamics.
- State-Space Controllers: Advanced control for multivariable systems.
- Filters: Tools for signal processing and noise reduction.
- Classical filters: For implementation of low pass filters.
- Kalman Filters: For optimal estimation of system states.
- State Observers: To reconstruct unmeasured states.
- Velocity GUI: Provides a user-friendly interface for setting setpoint velocities to be used by the controllers.
- Controllers: Handles the core logic for control systems designed to be used one at a time, each comes with a simple low pass filter. Within each package there is a readme describing how it works and how to use it.
- Feedback Loop: Real-time communication between the Motor Kit, Hardware Interface, and controllers.
Detailed design documentation is available at documentation folder in each package matlab code .md
- A ROS 2-compatible environment.
- A motor kit that can be order from (link to be provided).
- Dependencies:
- ROS 2 Humble
- Python 3.8+
- CMake 3.10+
- Clone the repository in a ROS2 workspace:
git clone https://github.com/KevinKipkorir254/control_kit_ws.git- Build and source the ROS2 workspace:
colcon build
source install/setup.bashIn each package, there is a readme on how to implement the system.
We welcome contributions! Please refer to the CONTRIBUTING.md file for guidelines.