%0 Computer Program
%A Surma, Filip
%D 2023
%T Application of SDDTMPC to control a unicycle
%U 
%R 10.4121/3f1b28ee-2eca-4bac-bc2e-5ae2d2db4a5f.v1
%K Robust optimization
%K robotics
%K nonlinear control
%K robust control
%K MPC
%X <p>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.</p><p><br></p>
%I 4TU.ResearchData