Lixiuxin000's Stars
MrMoe830/RobotArm-Dynamixel_sdk
简单的机械臂知识，希望对您有所帮助
arbabiha/KoopmanMPC_for_flowcontrol
A data-driven framework for control of nonlinear flows with Koopman Model Predictive Control
KailinTong/Motion-Planning-for-Mobile-Robots
imarvinle/awesome-cs-books
🔥 经典编程书籍大全，涵盖：计算机系统与网络、系统架构、算法与数据结构、前端开发、后端开发、移动开发、数据库、测试、项目与团队、程序员职业修炼、求职面试等
attaoveisi/Hybrid_Fuzzy_Kalman_Filter
Mixed Kalman-Fuzzy Sliding Mode State Observer in Disturbance Rejection Control of a Vibrating Smart Structure Atta Oveisi*1, Tamara Nestorović1 1Ruhr-Universität Bochum, Mechanik adaptiver Systeme, Institut Computational Engineering, D-44801, Bochum, Germany. E-Mail: atta.oveisi@rub.de ABSTRACT In the controllers that are synthesized on a nominal model of the nonlinear plant, the parametric matched uncertainties and nonlinear/unmodeled dynamics of high order nature can significantly affect the performance of the closed-loop system. In this note, owing to the robust character of the sliding mode observer against modeling perturbations, measurement noise, and unknown disturbances and due to the non-fragile behavior of the Kalman filter against process noise, a mixed Kalman sliding mode state-observer is proposed and later enhanced by the addition of an intelligent fuzzy agent. In light of the proposed technique, the chattering phenomena and the conservative boundary neighboring layer of the high gain sliding mode observer are addressed. Then, a robust active disturbance rejection controller is developed by using static feedback of the estimated states using direct Lyapunov quadratic stability Theorem. The reduced order plant for control design purposes is subjected to some simulated square-integrable disturbances and is assumed to have mismatch uncertainties in system matrices. Finally, the robust performance of the closed-loop scheme with respect to the mentioned perturbation signals and modeling imperfections is tested by implementing the control system on a mechanical vibrating smart cantilever beam. Keywords: Fuzzy system; Nonlinear control; Active disturbance rejection; Kalman Filter; Vibration suppression.
BedollaDavid/Optimal-SMC-ERL
Optimal sliding mode exponential reaching law control
attaoveisi/AFISMC
a new observer-based adaptive fuzzy integral sliding mode controller (AFISMC) is proposed based on the Lyapunov stability theorem. The plant under study is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. In addition, a norm-bounded time varying term is introduced to address the possible existence of un-modelled/nonlinear dynamics. Based on the classical sliding mode controller (SMC), the equivalent control effort is obtained to satisfy the sufficient requirement of SMC and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. The sliding surface is compensated based on the observed states in the form of linear matrix inequality (LMI). In order to relax the norm-bounded constrains on the control law and solve the chattering problem of SMC, a fuzzy logic (FL) inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, by aiming at evaluating the validity of the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.
dohyeoklee/Non-linear-control-simulator
Non-linear control algorithms(inverse dynamics control, robust control, passivity-based robust control, passivity-based adaptive control, sliding mode control) simulator for two-arm manipulator, coded by python
meenakshisarkar/Sub_Optimal_Sliding_mode_controller
This project was part of my Masters thesis. Objective was the design and development of a novel hybrid Sub-Optimal Sliding Mode Controller (SOSMC) for energy efficient navigation of autonomous mobile vehicles in unstructured environment. Up to 25\% improved efficiency in control effort was noted in the simulated environment for an autonomous underwater vehicle surveying on a 3D helical path.
sandeshthapa/Adaptive_Sliding_Mode_Control_of_Aerial_Manipulator
Adaptive Sliding Mode Control
harishsatishchandra/SMC-controller
Sliding mode controller for tracking trajectory of an autonomous vehicle.
Horea94/Fruit-Images-Dataset
Fruits-360: A dataset of images containing fruits and vegetables
priscillascu/Sliding_Mode_Control_Matlab
My Matlab program of SMC
zeryabmoussaoui/fuzzy-qlearning-robot
A Fuzzy Q Learning Controler Implementation for Mobile Robot
2wavetech/Robotics---Control-of-Mobile-Robot
This repository contains my implementation of the programming asssignments of Control of Mobile Robots course delivered by Georgia Institute of Technology on Coursera, which covers control theory, robot models, mobility controllers and applications.
vvrs/MPPIController
Robot Controls Course Project
AmarBhatt/DynamicPathFollowingRobot
This project explores making a wireless automatic guided robot which does not require any kind of intrusive modifications to be made to the environment, apart from installing an overhead camera. Generally environments that make use of automatic guided vehicles (AGVs) have to plan the path(s) where the robots should go before installing the tracks, like magnetic strips or metal tracks; this is an investment even before using the robots. If any change to the path(s) is required to be made, then more cost is incurred. In this paper a four wheeled differential drive robot has been controlled wirelessly to follow paths drawn on a graphical user interface within a workspace of 1.8m by 1.4m. The robot is controlled by correcting its orientation through visual feedback from a camera. Error analysis was performed to investigate how well the robot followed the path drawn. The estimated error of the robot is within a few centimeters of the path and can be reduced by modifying various thresholds.
Bungehurst/Mecanum-Chassis
chauby/V-REP-YouBot-Demo
YouBot Control demos on V-REP platform.
zhaoan-123/simulink-with-V-rep
GabrielEGC/Dynamic-Feedback-Lineariz-diff-robot-tracking
A Dynamic Feedback Linearization for a differential wheeled robot for tracking any continous trajectory in plane with asymptotic stability.
TakaHoribe/trajectory_tracking_simulation