Constructive Multirate Controllers for Differentially Flat Systems
This repository contains the code and videos associated with the paper "A Constructive Method for Designing Safe Multirate Controllers for Differentially Flat Systems" by Devansh Agrawal, Hardik Parwana, Ryan Cosner, Ugo Rosolia, Aaron Ames, and Dimitra Panagou.
The paper was submitted to L-CSS, for ACC 2022.
Video
Abstract
Repository Structure
The first folder, simulations contains the code necessary for running the controller with a simulation loop.
The readme inside the folder describes how to set up and run the simulation.
The second folder, ros_implementation contains the two packages used in the hardware experiments. A readme inside the folder describes how to setup and run the experiments.