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DOI: 10.4121/3f1b28ee-2eca-4bac-bc2e-5ae2d2db4a5f

Surma, Filip (2023): Application of SDDTMPC to control a unicycle. Version 1. 4TU.ResearchData. software. https://doi.org/10.4121/3f1b28ee-2eca-4bac-bc2e-5ae2d2db4a5f.v1

Categories

• Applied Mathematics
• Other Mathematical Sciences
• Mathematical Sciences

Keywords

MPC nonlinear control robotics robust control Robust optimization

Licence

MIT

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by Filip Surma

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.

History

• 2023-11-06 first online, published, posted

Publisher

4TU.ResearchData

Format

Matlab code, mat files, fig files

Funding

• Netherlands Organization for Scientific Research, 655.010.207

Organizations

TU Delft, Faculty of Aerospace Engineering, Department of Control & Simulation