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/openMAS
A research and simulation library for multi-agent systems
ZhuLinche/heterogeneous_coverage_control
Code base for my research on heterogeneous multi-agent coverage control
ZhuLinche/SMC-controller
Sliding mode controller for tracking trajectory of an autonomous vehicle.
ZhuLinche/multiagent_consensus_ctrl
research code on large-scale multi-agent consensus, large scale nonlinear optimal control, mean field games
ZhuLinche/MissileSimulation
This repository contains a MATLAB/Simulink simulation software for the flight dynamic simulation of an transsonic missile system.
ZhuLinche/stochasticbarrierfunctions
This repository contains the code for the case studies in the paper "Verification and Control for Finite-Time Safety of Stochastic Systems via Barrier Functions" (CCTA 2019) and "A Barrier Function Approach to Finite-Time StochasticSystem Verification and Control" (in submission)
ZhuLinche/Neural-Networks-to-solve-PDE
ZhuLinche/flock-torus-attractors
Matlab code for multi-agent swarm simulation that has flock and torus attractors.
ZhuLinche/Covariance-Intersection-and-EM-GMM-code
easy and short implementations of the thing in the title
ZhuLinche/Robot-Swarm-Networked-Control-for-Capture-the-Flag-Game
Final project for 'ECE6563: Networked Control' at Georgia Tech | Matlab implementation of the defense and scouting behavior for a swarm of robots in a 'Capture the Flag' game | Robot behaviors: consensus, formation control, cyclic pursuit, leader-follower patrol | Demonstrated the system in both Matlab simulator and the GT Robotarium testbed (with real robots).
ZhuLinche/Sensor-Fusion-and-Nonlinear-Filtering-SSY345
Repository for the course "Sensor Fusion and Non-Linear Filtering" - SSY345 at Chalmers University of Technology
ZhuLinche/resource_constrained_predictive_triggering
Predictive Triggering Framework for Distributed Control of Resource Constrained Multi-agent Systems
ZhuLinche/Swarm-Robotics-using-SIMULINK
A SIMULINK simulation of swarm robots having 4 behaviors-attraction,repulsion,orbiting a virtual robot and following a scalar field.
ZhuLinche/Consensus-problem-in-directed-networks-with-nonlinear-multi-agents
ZhuLinche/Flocking-experiment-platform
This platform can help researchers who have just contacted flocking model or swarm intelligence to design related experiments quickly and obtain the final evaluation index and so on. If this work is useful to you, please quote my article when you publish it ~not yet published, but ready to send it, the article will be posted later.
ZhuLinche/Multiagent-Motion-Planning
Implementation of a multi-agent planning algorithm based on potential field method with a distributed feedback protocol. (Summer 2018)
ZhuLinche/Dubins
Multi-agents Dubins path planning codes
ZhuLinche/multirobot-formation-control
Controlling a set of differential wheeled robots, sending them only two variables to ALL robots.
ZhuLinche/Trust-Based-Distributed-Kalman
Trust-based distributed Kalman filtering for target tracking under malicious cyber attacks
ZhuLinche/ModelPredictiveControlExampleMatlab
ZhuLinche/NonlinearDisturbanceObserverMatlab
DisturbanceObserver NonlinearDisturbanceObserver
ZhuLinche/quadrotorTrackingControl
A simulation for quadrotor based on matlab
ZhuLinche/reinforcement-learning
Implementation of Single-Agent and Multi-Agent Reinforcement Learning Algorithms. MATLAB.
ZhuLinche/ICAPS2017-code
Repository containing the codes that were used in the paper "Multi-agent Ergodic Coverage with Obstacle Avoidance"
ZhuLinche/distributed_anti-flocking
This repository contains MATLAB codes for distributed anti-flocking algorithms described in TII 2016 paper.
ZhuLinche/quadcopter-simulation-ros-gazebo
Quadcopter control & simulation with ROS, Gazebo and the Robotics System Toolbox
ZhuLinche/ICI
Matlab implementation of Inverse Covariance Intersection
ZhuLinche/Swarm-Chemistry-Framework
This work is loosely based on the swarm chemistry framework by Sayama et al.
ZhuLinche/MultiAgent-Flocking-framework
This is part of the current research I am working on.
ZhuLinche/UTM