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What is PD Control

Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics
A PD control stands for Proportional-Derivative control, it is a control loop feedback strategy used in industrial control to minimize the error over time by the adjust of a control variable or input, by means of calculating the error value as the difference between the desired setpoint and the measured state. The P term stands for the proportional part of the controller that generates a corrective input proportionally to the existing error. The D term acts on the derivative rate of change of the control error providing a fast response.
Published in Chapter:
Control of a Wing Type Flat-Plate for an Ornithopter Autonomous Robot With Differential Flatness
Elkin Yesid Veslin Díaz (Universidade Federal do Rio de Janeiro, Brazil), Cesar Francisco Bogado-Martínez (Universidad Nacional de Asunción, Paraguay), Max Suell Dutra (Universidade Federal do Rio de Janeiro, Brazil), and Luciano Santos Constantin Raptopoulos (Centro Federal de Educação Tecnológica Celso Suckow da Fonseca, Brazil)
DOI: 10.4018/978-1-7998-0137-5.ch009
Abstract
In this chapter, a two-degree-of-freedom controller that exploits the flat properties of a three degree-of-freedom wing type flat-plate for an Ornithopter Autonomous robot is proposed. A set of kinematical patterns inspired by nature is used to simulate the wing's movement around two wingtip trajectories; also, the effects of the aerodynamical forces as a function of the wind velocity and the wing's angle of attack are considered. In order to control the system, the effects of these forces are viewed as disturbs that affect the wing's dynamics. The proposed control scheme drives the device through the desired path by generating a set of desired inputs which are compensated by a feedback loop when the aerodynamical forces actuate upon the system.
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