Slew Rate
Seen through Vehicle Dynamics.
The slew rate refers to the rate at which an actuator or system can change its output. In control systems, it typically describes how fast a control input (such as steering angle or torque) can be adjusted over time.
In NMPC, controlling the slew rate is important for several reasons:
- Actuator limitations: Physical systems (e.g., motors, steering mechanisms) have limits on how fast they can respond. If a control system demands a faster change than the actuator can provide, it may lead to instability or degradation of performance.
- Smooth control: By limiting the slew rate, control inputs change gradually, which can lead to smoother, more stable vehicle behavior. This is particularly important in tasks like drifting, where sudden, sharp changes could destabilize the vehicle.
- Reducing wear and tear: Limiting the slew rate can prevent excessive stress on mechanical components, reducing the risk of damage or wear over time.