How does the thresholding in the position controller work? about bebops HOT 7 CLOSED

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from bebops.

Have you read the reference paper listed in the Wiki?

from bebops.

I just now reread the paper. So, the thresholding provides stability.
Is it possible to modify the control input before or after the thresholding and still keep it within the simulation bounds with the virtual input bounds?

from bebops.

What do you mean "change control input"? Which part of the control algorithm are you referring to?

from bebops.

The control input in the position controller for the x,y, and z direction.
From the original post, for example, is it possible to modify like u_z = m_ ( *u_z + modifier * lambda_z_); and still keep the simulation valid?

from bebops.

If you change u_z, you change the control law. Therefore, I cannot say whether the control algorithm is still stable. However, I can obviously say that it will not work for the scenario considered.

from bebops.

Thank you.

from bebops.