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RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajectory planning and path planning problems.
This repository contains the Matlab source codes (to use in Robotarium platform) of various rendezvous controllers for consensus control in a multi-agent / multi-robot system.
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 rejecti…
Ellipsoidal Toolbox for MATLAB is a standalone set of easy-to-use configurable MATLAB routines and classes to perform operations with ellipsoids and hyperplanes of arbitrary dimensions
In this project, an observer in the form of a stable neural network is proposed for any nonlinear MIMO system. As a result of experience, this observer utilizes a nonlinear in parameter neural network (NLPNN) which unlike LPNN, supports systems with higher degree of nonlinearity with no pre-knowledge of its dynamics. The learning rule for this n…