[ODE] Torque or speed controller for 6-wheeled rover

Thomas Thüer ode at thoemsen.ch
Thu Feb 10 09:59:54 MST 2005

Hi all

Since I'm having problems with the ODE speed controller implemented in 
the hinge2 joint, I would like to write my own controller. Therefore I 
wanted to ask, if anyone has already developed a PID torque/speed 
controller for an n-wheeled vehicle? I have already coded and tuned a 
preliminary version, but it is not stable enough. Maybe one of you could 
point out some problems which have to be treated carefully when applying 
a PID controller?

Thanks for your help,

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