Use iterative learning control (ILC) for trajectory tracking task with the existence of model mismatch. MPC is also used for comparison.

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

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

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

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

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

Robotics Project (Industrial Robotics and Mobile Robotics).

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

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

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

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

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

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

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.

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…

Trajectory Tracking using IO-SFL for Wheeled Mobile Robot

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 …

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