Added the Active Disturbance Rejection Control (ADRC) Algorithm #12648
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@cclauss can you approve this if its okay? |
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| class ADRC: |
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Optional: This might be simpler as a dataclass. https://docs.python.org/3/library/dataclasses.html
control_algorithms/adrc.py
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| self.z2 = 0.0 # Estimated system velocity | ||
| self.z3 = 0.0 # Estimated total disturbance | ||
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| def compute(self, measured_value: float, dt: float) -> float: |
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| def compute(self, measured_value: float, dt: float) -> float: | |
| def control_output(self, measured_value: float, dt: float) -> float: |
or get_control_output() or calculate_control_output()
control_algorithms/adrc.py
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| return control_output | ||
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| def reset(self): | ||
| """Reset the estimated states.""" |
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As discussed in CONTRIBUTING.md, all methods need one or more doctests.
| """Reset the estimated states.""" | |
| """Reset the estimated states. | |
| >>> adrc = ADRC(0.0, 0.0, 0.0) | |
| >>> adrc.z1, adrc.z2, adrc.z3 = 1.1, 2.2, 3.3 | |
| >>> adrc.reset() | |
| >>> adrc.z1, adrc.z2, adrc.z3 | |
| (0.0, 0.0, 0.0) | |
| """ |
Co-authored-by: Christian Clauss <[email protected]>
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added
require tests
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control_algorithms/adrc.py
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| class ADRC: | ||
| def __init__(self, error_correction: float, disturbance: float, acceleration: float, target: float = 0.0): |
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Please provide return type hint for the function: __init__. If the function does not return a value, please provide the type hint as: def function() -> None:
control_algorithms/adrc.py
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| self.z2 = 0.0 # Estimated system velocity | ||
| self.z3 = 0.0 # Estimated total disturbance | ||
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| def compute(self, measured_value: float, dt: float) -> float: |
There was a problem hiding this comment.
As there is no test file in this pull request nor any test function or class in the file control_algorithms/adrc.py, please provide doctest for the function compute
control_algorithms/adrc.py
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| control_output = self.z2 - self.z3 | ||
| return control_output | ||
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| def reset(self): |
There was a problem hiding this comment.
As there is no test file in this pull request nor any test function or class in the file control_algorithms/adrc.py, please provide doctest for the function reset
Please provide return type hint for the function: reset. If the function does not return a value, please provide the type hint as: def function() -> None:
Co-authored-by: Christian Clauss <[email protected]>
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@algorithms-keeper reviewto trigger the checks for only added pull request files@algorithms-keeper review-allto trigger the checks for all the pull request files, including the modified files. As we cannot post review comments on lines not part of the diff, this command will post all the messages in one comment.NOTE: Commands are in beta and so this feature is restricted only to a member or owner of the organization.
control_algorithms/adrc.py
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| class ADRC: | ||
| def __init__(self, error_correction: float, disturbance: float, acceleration: float, target: float = 0.0): |
There was a problem hiding this comment.
Please provide return type hint for the function: __init__. If the function does not return a value, please provide the type hint as: def function() -> None:
control_algorithms/adrc.py
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| self.system_velocity = 0.0 # Estimated system velocity | ||
| self.total_disturbance = 0.0 # Estimated total disturbance | ||
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| def compute(self, measured_value: float, dt: float) -> float: |
There was a problem hiding this comment.
As there is no test file in this pull request nor any test function or class in the file control_algorithms/adrc.py, please provide doctest for the function compute
control_algorithms/adrc.py
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| control_output = self.z2 - self.z3 | ||
| return control_output | ||
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| def reset(self): |
There was a problem hiding this comment.
As there is no test file in this pull request nor any test function or class in the file control_algorithms/adrc.py, please provide doctest for the function reset
Please provide return type hint for the function: reset. If the function does not return a value, please provide the type hint as: def function() -> None:
for more information, see https://pre-commit.ci
Co-authored-by: Christian Clauss <[email protected]>
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Repository:
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Automated review generated by algorithms-keeper. If there's any problem regarding this review, please open an issue about it.
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control_algorithms/adrc.py
Outdated
| self.system_velocity = 0.0 # Estimated system velocity | ||
| self.total_disturbance = 0.0 # Estimated total disturbance | ||
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| def compute(self, measured_value: float, dt: float) -> float: |
There was a problem hiding this comment.
As there is no test file in this pull request nor any test function or class in the file control_algorithms/adrc.py, please provide doctest for the function compute
control_algorithms/adrc.py
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| # Control Law (Nonlinear State Error Feedback - NLSEF) | ||
| return self.z2 - self.z3 | ||
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| def reset(self): |
There was a problem hiding this comment.
As there is no test file in this pull request nor any test function or class in the file control_algorithms/adrc.py, please provide doctest for the function reset
Please provide return type hint for the function: reset. If the function does not return a value, please provide the type hint as: def function() -> None:
algorithms-keeper
bot
removed
require tests
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@cclauss Sorry for so many commits! I dont have much experience contributing so i did make a few mistakes! Please check if any more changes are required! |
Describe your change:
Fixes #12622
Checklist: