It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear …

Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.

Controlling multiple mobile robots to go to their destinations without any collision.

Published in Nature Communications: Model-free tracking control of complex dynamical trajectories with machine learning.

Robotics Project (Industrial Robotics and Mobile Robotics).

This model include; plant,controller,sensor,filter and disturbance models.

Linear Model Predictive Controller for Vehicle Trajectory Tracking based on Kinematic Unicycle Vehicle Motion Model with Cubic Polynomial Trajectory Generation. Evolutionary Algorithm-assisted Tuning of MPC prediction horizon and penalty matrices

Trajectory generation in discrete time for the geographical mapping of the river network, optimization of the path generated by the mission planner to reduce the power consumption of the drone . The UAV will capture a large amount of data which will then be used to study the effects of global warming and how do these river networks come into exi…

This repository contains the code and models I developed during my Modern Control Systems course at ITMO University.

A comprehensive example of trajectory tracking in 2D using Kalman filtering.

This project simulates an autonomous robot (Differential Drive) that has to avoid certain obstacles to reach a defined goal from a starting point

Implementation of MPC for trajectory tracking for a self-driving car/robot

Trajectory Tracking using IO-SFL for Wheeled Mobile Robot

Final Project of Robotics & Control 2 Exam (A.Y. 2023/2024) from Prof. Cenedese

Project for Automatic Control Systems III Course / Winter Semester 2020

Trajectory tracking control via decentralized joint-level schemes. All the experiments are performed on a 2R manipulator.

Tracking a known trajectory of SCARA Manipulator using Jacobian Inverse and Jacobian transpose

Use Iterative Learning Control (ILC) for trajectory tracking task with the existence of model mismatch. Model Predictive Control (MPC) is also used for comparison.

A MATLAB and Simulink project. Includes controller design, Simscape simulation, and sensor fusion for state estimation. By: Matteo Liguori; Supervisor and Collaborator: Francesco Ciriello Professor at King's College London