Pinned Repositories
control-and-system-book
textbook about control, robotics, system
DDRTC-of-UMSs
This paper presents a data-driven control design framework to achieve robust tracking control without exploiting mathematical model of nonlinear underactuated mechanical systems (UMS). The method leverages the differential flatness property of linearized systems and online estimation and compensation of disturbances by active disturbance rejection control (ADRC). The differentially flat output is derived directly from measured data with unknown dynamics and parameters of UMS by the flat output identification (FOID) algorithm. A reduced nominal model of UMS is proposed to simplify the process of finding flat output and trajectory planning. Technique of sparse regression is applied to identify the relationships between flat output and system states, which reduces the order of the well-known extended state observer (ESO) and thereby make the ESO more effective for both trajectory planning and tracking in terms …
Django-Stu
基于python的Django框架学生信息管理系统
euler-lagrange-routine
Event-triggered-controller
simple example for Event-triggered control for network controlled system
Machine-Learning-Session
r-theta-manipulator
Control of a Non-Linear 2 DOF Manipulator
resource_aware_control_rl
robot-manipulator-dynamics
Matlab scripts to compute Euler-Lagrange dynamic models of a large number of robot manipulators.
TAC16
A. Selivanov and E. Fridman, “Event-Triggered H-infinity Control: a Switching Approach,” IEEE Transactions on Automatic Control, vol. 61, no. 10, pp. 3221–3226, 2016.
liuyuan0123's Repositories
liuyuan0123/eventtriggered-consensus
MATLAB code for the numerical example in ``Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robustly Positive Minimum Inter-Event Times
liuyuan0123/Machine-Learning-Session
liuyuan0123/robust-tube-mpc
Robust model predictive control using tube
liuyuan0123/ActorCritic4tankscontrol
Reinforcment Learning - Actor and Critic is used for the control of a 4 reservoirs system
liuyuan0123/asymmetric_manipulation
Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relative Jacobian formulation.
liuyuan0123/awesome-robotics
A list of awesome Robotics resources
liuyuan0123/cis2m
Computing Controlled Invariant Sets in Two Moves
liuyuan0123/coordination_oru_ros
Multi-robot coordination package based on coordination_oru with ROS support
liuyuan0123/Data-driven-control
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal with internal variations of vehicle sub-systems, including powertrain inefficiency, measurement errors, time delay, etc. These factors introduce issues in controller performance. In this paper, a feed-forward compensator is designed via a data-driven method to model and optimize the controller’s performance. Principal Component Analysis (PCA) is applied for extracting influential features, after which a Time Delay Neural Network is adopted to predict control errors over a future time horizon. Based on the predicted error, a feedforward compensator is then designed to improve control performance. Simulation results in different scenarios show that, with the help of with the proposed feedforward compensator, the maximum path tracking error and the steering wheel angle oscillation are improved by 44.4% and 26.7%, respectively.
liuyuan0123/drake
Model-based design and verification for robotics.
liuyuan0123/examples
A set of examples around pytorch in Vision, Text, Reinforcement Learning, etc.
liuyuan0123/gilc
gILC - An Open Source Tool for Model Based Iterative Learning Control
liuyuan0123/gistandard
SandBox轻量级办公管理系统（gistandard乙方版本）
liuyuan0123/js-Excel
Js is used to operate Excel tables and realize automatic summation（JS操作Excel表格实现自动求和）
liuyuan0123/LMIfilter_1229
liuyuan0123/m2wr_description
Exploring ROS using a 2 wheeled leg robot
liuyuan0123/micropyGPS
A Full Featured GPS NMEA sentence parser for use with Micropython and the PyBoard embedded platform
liuyuan0123/Model-Estimation-of-Non-linear-dynamical-system
The stochastic approach to predict the model estimation is a recently introduced control strategy for the underactuated systems (hopping robot) that allows the system to predict its trajectory movements in the unpredicted environment. In this work, we demonstrate the stochastic approach through Machine Learning technique (Gaussian Mixture Model) which allows us to predict the state information by interpreting with the sample state information of the Hopping robot through a probabilistic approach. The output of this approach will yield us with the desired estimated state of the system. Finally, we are going to hand over our work for applying this estimated policy to the simulated Hopping robot by using an Iterative Linear Quadratic Regulator (iLQR) as a controller which updates the predicted model estimation to the existing control policy of the system to determine its optimal trajectory motion.
liuyuan0123/nonlinear_control
Implementing the nonlinear model predictive control, sliding mode control
liuyuan0123/offset
liuyuan0123/omg-tools
Optimal Motion Generation-tools: motion planning made easy
liuyuan0123/phobos
An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.
liuyuan0123/predictive_and_self_triggering
Vehicle platooning example for predictive and self triggering
liuyuan0123/PyAdvancedControl
Python codes for advanced control
liuyuan0123/PythonRobotics
Python sample codes for robotics algorithms.
liuyuan0123/ros_exploring
《ROS机器人开发实践》源码
liuyuan0123/rtPGM
real-time Proximal Gradient Method for linear MPC
liuyuan0123/Software
This repository contains all the software that runs on the Duckiebot, as well as support files (e.g. maps), plus hardware schematics.
liuyuan0123/stochasticbarrierfunctions
This repository contains the code for the case studies in the paper "Verification and Control for Finite-Time Safety ofStochastic Systems via Barrier Functions" CCTA 2019
liuyuan0123/sun-position
Python code for computing sun position