Control
The fourth of the five computational layers; it takes a reference trajectory (from planning) and the current state estimate (from state estimation) and computes the commands (torques, currents, voltages, PWM duty cycles) needed to reduce the error between the desired and actual state. Control operates at a faster timescale than planning, typically 100 Hz to 1 kHz, to handle disturbances between planning updates.
Defined in 2 GAGE programs, which carry 5 distinct definitions of it. The wording above is taught in Foundations of Robotics and Physical AI.
How each discipline defines it
The same term does different work depending on who is using it. These are the definitions as each program teaches them, unedited.
The fourth of the five computational layers; it takes a reference trajectory (from planning) and the current state estimate (from state estimation) and computes the commands (torques, currents, voltages, PWM duty cycles) needed to reduce the error between the desired and actual state. Control operates at a faster timescale than planning, typically 100 Hz to 1 kHz, to handle disturbances between planning updates.
The verb that builds and operates the thing that changes the outcome. Finished when the thing exists, has a named owner, operates at a stated frequency, and leaves evidence behind without anyone remembering to create it.
Something an organization puts in place to keep a risk within tolerance or to satisfy an obligation. The fourth object in the chain, engineered in Module 07.
Something an organization does to keep a risk within tolerance or to satisfy an obligation. The fourth object in the ten object chain, engineered in Module 07.
Something the organization puts in place to keep a risk within tolerance or to satisfy an obligation. The fourth object. Engineered in Module 07.
Terms it appears with
Not an alphabetical neighbourhood: these are the terms taught in the same lessons, ranked by how often they appear together.