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  1. A nonlinear control algorithm

    MATLAB 2 2

  2. A PID controller for ROS.

    1 3

  3. pid_lyap Public

    Compare the PID and switched Lyapunov controllers on the same system.

    C++ 1 2

  4. A hybrid nonlinear controller: switched Lyapunov/sliding mode

    MATLAB 1

  5. Python 1

604 contributions in the last year

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Contribution activity

November 2021

Created a pull request in ros-planning/moveit2 that received 8 comments

Add hybrid planning

This continues from #488. It addresses most of the comments there. The big comment that's not addressed yet relates to the timer that is used in la…

+3,894 −0 8 comments
Opened 11 other pull requests in 7 repositories
PickNikRobotics/trackjoint 2 merged
ros-planning/moveit 1 closed 1 merged
ros-planning/moveit2 2 open
ros-planning/moveit2_tutorials 2 merged
ros-planning/moveit_resources 1 closed
AndyZe/moveit2 1 merged
UniversalRobots/Universal_Robots_ROS2_Driver 1 open
Reviewed 24 pull requests in 6 repositories
ros-planning/moveit2 9 pull requests
ros-planning/moveit 7 pull requests
ros-planning/moveit2_tutorials 3 pull requests
ros-planning/moveit_msgs 2 pull requests
UniversalRobots/Universal_Robots_ROS2_Driver 2 pull requests
ros-planning/moveit.ros.org 1 pull request

Created an issue in ros-planning/moveit2 that received 6 comments

Hybrid planner often gets stuck

Sometimes it plans around the obstacle perfectly, and executes the trajectory perfectly. Here's a perfect run: good_run.mp4 Other times it…

6 comments
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