Non-linear-control-simulator

Non-linear control algorithms(inverse dynamics control, robust control, passivity-based robust control, passivity-based adaptive control, sliding mode control) simulator for two-arm manipulator, coded by python

Usage

Just run below command at terminal

git clone https://github.com/dohyeoklee/Non-linear-control-simulator
cd Non-linear-control-simulator/src
python main.py -a -c="passivity adaptive" -m="tracking sine function"

Dependency:

-python 3.8.5

-numpy: 1.19.2

-matplotlib: 3.3.2

-scipy: 1.5.2

Algorithm

Dynamics

Non-linear control

Result

Reference

[1] Robot Dynamics and Control, Second Edition, Mark W. Spong, Seth Hutchinson, and M. Vidyasagar