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Commits on Aug 16, 2020

• Corrected planar model derivation script error

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Commits on Mar 8, 2020

• Updated thesis with minor corrections

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Commits on Mar 7, 2020

• Corrected signs in MPC formulation to match thesis

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• Added processing scripts for the validation dataset

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Commits on Oct 19, 2019

• Fixed mistake to match Thesis eq. (4.12)

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Commits on Aug 17, 2019

• Added recorded rosbags and raw measurements from practical experiments

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Commits on Jun 3, 2019

• Added presentation slides

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• Updated simulation files to prepare for Exam presentation

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• Updated README to specify ACADO version used for MPC simulation

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• Final adjustments of MPC for presentation

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• Closed-loop balance controller Pole/zero computation

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• Updated MPC parameters and visualization during simulation

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• Added Velocity LQR simulation

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• Updated README

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• Added Master thesis PDF

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Commits on May 6, 2019

• Updated README

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• Cleaned spacing

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Commits on May 3, 2019

• MPC cost+constraints modified = Well working with Sliding mode control

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Commits on May 2, 2019

• Swapped desired and max velocity in MPC to work with sliding mode

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• MPC modified to work with in cascade with Sliding mode controller

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Commits on May 1, 2019

• Added codegen output of MPC-related scripts

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• ACADO MPC Simulation in MATLAB and Simulink

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• Added estimator Codegen output

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• Added Codegen conversion scripts

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Commits on Apr 26, 2019

• Added Figure Eight test trajectory for MPC simulation

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• Changed name to match quaternion indices in thesis

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• Added path-following MPC scripts

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Commits on Apr 24, 2019

• Added steady state acceleration coefficients

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• Select automatic folder for generated outputs

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• Added steady state acceleration model

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• General update improving automatic inclusion path detection in scripts

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• Updated model derivation scripts

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• Misaligned inertia tensor fixed

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Commits on Apr 17, 2019

• Updated Simulink model with sliding mode, estimators, sensor model etc.

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Commits on Apr 9, 2019

• Fixed problem with Vicon parsing for position and velocity in ball frame

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