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Application of SDDTMPC to control a unicycle

Application of SDDTMPC to control a unicycle

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Description

The code of this repository is used to implement and test a new algorithm called SDD-TMPC. It is a control algorithm that sacrifices a bit of optimality (much less than tube MPC) but returns robust solutions. In this repository, SDD-TMPC was used to control a unicycle. The results were compared to other controller from literature.

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Keywords
MPC
nonlinear control
robotics
robust control
Robust optimization
Programming languages
  • Matlab 87%
  • Markdown 13%
License
  • MIT
</>Source code
Packages
data.4tu.nl

Contributors

FS
Filip Surma

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