Measure
Tracking error
You might say: following error
Tracking error is the difference between the desired motion and the measured motion over time.
- What it does
- It exposes steady-state accuracy and transient response during tuning.
- Ask
- What are the peak and RMS errors, and does the error settle?
- Typical
- Feedback Systems defines rise time, overshoot and settling time from a chosen final-value tolerance; state the tolerance used.
What to look for
- Desired and measured motion traces
- Peak and RMS error
- Overshoot and settling
Connections
- Measured by: Encoder
Sources
- Karl J. Åström and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Ch. 2 §2.4
There are situations where only the error signal e = r − y can be measured; typical examples are DVD players, optical memories, and atomic force microscopes.
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, §11.2.1 Error Response
The error response can be characterized by its steady-state response, which refers to the final error achieved, and its transient response, which consists of the overshoot and settling time.
Use it on your project
teardown-apply: hold "Tracking error" (tracking-error) from the teardown at https://teardownatlas.com/robotics/ against my project
Paste it into a coding agent that has the teardown skills.
An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal