Pinned Repositories
Adaptive-bias-RBFNN-control
Adaptive_Sliding_Mode_Controller_Aerial_Manipulator
AdaptiveCriticDesigns
ACD project
AFF-RBFNN-Control-with-the-DPE
paper code of "Adaptive feedforward RBF neural network control with the deterministic persistence of excitation"
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.
boundedline-pkg
Plot line(s) with error bounds/confidence intervals/etc. in Matlab
Code-for-TC
code for paper Event-Triggered Impulsive Control for Nonlinear Stochastic Systems
DeepMPC
Tube based Model Predictive Control that utilize Neural Networks to improve performance with adaptive control inputs.
Event-triggered-controller
Simple examples for Event-triggered control for network controlled system
reinforcement-learning
Implementation of Single-Agent and Multi-Agent Reinforcement Learning Algorithms. MATLAB.
ZhuLinche's Repositories
ZhuLinche/Code-for-TC
code for paper Event-Triggered Impulsive Control for Nonlinear Stochastic Systems
ZhuLinche/Adaptive_Sliding_Mode_Controller_Aerial_Manipulator
ZhuLinche/Approximate-Dynamic-Programming
ADP demo code for Reinforcement Learning and Control, Tsinghua Univ. Lecture Notes.
ZhuLinche/auv_lbf
Lyapunov based controller design for trajectory tracking of an under-actuated autonomous underwater vehicle(AUV)
ZhuLinche/CBF-CLF-Helper
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
ZhuLinche/CBF-Pointwise-Feasibility
"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
ZhuLinche/Consensus-based-Algorithm-for-Swarm-UAVs
ZhuLinche/Consensus-based-DMPC
Consensus-based Control of Multiple Fixed-wing UAVs Using Distributed Model Predictive Control
ZhuLinche/controllers
ROS package for AI-based controllers for UAVs
ZhuLinche/cooperative-path-following
ZhuLinche/Cyber-Physical-Systems-Consensus-and-SVFB
Codebase for two projects, one on the Consensus Algorithm in multi agent systems and another on State Variable Feedback control in multiagent systems
ZhuLinche/dynamic_encirclement
(In development). This project implements an autonomous, decentralized dynamic encirclement strategy for swarms of vehicles.
ZhuLinche/ExtentCBF
ZhuLinche/feedback-optimization-swarm-robotics
ZhuLinche/helperOC
ZhuLinche/Modeling-and-Optimization-of-UAV-Swarms
Modeling and Simulation Project
ZhuLinche/MPC-CBF
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
ZhuLinche/MTT
Implementation of several Bayesian multi-target tracking algorithms, including Poisson multi-Bernoulli mixture filters for sets of targets and sets of trajectories. The repository also includes the GOSPA metric and a metric for sets of trajectories to evaluate performance.
ZhuLinche/Multiple-fixed-wing-UAVs-flight-simulation-platform
A multiple fixed-wing UAVs flight simulation platform built by matlab and simulink. 一个小型固定翼无人机集群仿真演示平台
ZhuLinche/MultiRate
ZhuLinche/NEU-RSE-Courses
东北大学机器人课程攻略 共享计划
ZhuLinche/openVectorField
a general ode simulation tool
ZhuLinche/Paper-code
CCC会议论文matlab代码
ZhuLinche/paper-simulation
Let's reproduce paper simulations of multi-robot systems, formation control, distributed optimization and cooperative manipulation.
ZhuLinche/PrivilegedEstimationCode
ZhuLinche/Quadcopter-Trajectory-Tracking-using-Adaptive-Nonlinear-Algorithms
ZhuLinche/robust-tube-mpc
Robust model predictive control using tube
ZhuLinche/SecureFastCovarianceIntersectionCode
ZhuLinche/SplitCIF
Matlab demo code for implementation and usage of the Split Covariance Intersection Filter (Split CIF)
ZhuLinche/SPSO
Spherical Vector-based Particle Swarm Optimization