控制参数

预测值

稳定性

超调量

$k_{px}$

3.0559897

√

[0.426,0.264,0.1608]

$k_{py}$

3.1216955

√

[0.348,0.343,0.154]

$k_{dx}$

3.2249856

√

[0.115,0.277,0.1608]

$k_{dy}$

3.1152592

√

[0.348,0.1018,0.1611]

$k_p$

70.97655

√

[0.322,0.254,0.1445]

$k_d$

17.395998

√

[0.333,0.262,0.1936]