References on Optimal Control, Reinforcement Learning and Motion Planning

Learning-Based Model Predictive Control (LBMPC)

Tracking controllers for UAVs in ROS, part of the "mrs_uav_core" package.

A modular and scalable simulation framework for ultra-rapid prototyping of self-adaptive, stochastic and robust Nonlinear Model Predictive Control for Autonomous Vehicle Motion Control

Robust and optimal design and analysis of linear control systems

This repository contains the source code for “Unscented Kalman filter stochastic nonlinear model predictive control” (UKF-SNMPC).

Robust control tutorial by Purdue SMART Lab: Sliding Mode Control (SMC) with MATLAB/Simulink example implementation

This repository contains classwork and practice examples based on Model Predictive Control. Robust and Stochastic control methods applied to and studied for linear/non-linear plants.

This is a project where an Adaptive Flight Control based on L1 adaptive control is designed and tested using MATLAB/Simulink [ L1 adaptive control code ]

Simple-to-use-and-extend implementation of the DeepMimic Approach using the MuJoCo Physics Engine and Stable Baselines 3, mainly for locomotion tasks.

No description provided.

Implement SLS MPC for linear systems subject to polytopic model uncertainty and additive disturbances.

Robust and nonlinear Direct Data-Driven MPC controllers for LTI and nonlinear systems in Python

Robust control for dynamic nonlinear systems with parameter uncertainties

MIT Spring 2020 Mechanical Engineering 2.152 Nonlinear Control (Professor Jean-Jacques Slotine)

DR-TVFC is a control framework based on sliding mode control that decouples the consensus task and the formation task to achieve distributed formation tracking control for multi-agent control systems (MAS).

MPC controllers for temperature regulation of a building. Graded project for the ETH course "Model Predictive Control".

Library of LMI methods for Robust Control

Learning-based robust tube based MPC of nonlinear systems via difference of convex radial basis functions

A Julia package for the computation of hard, theoretically guaranteed bounds on the moments of jump-diffusion processes with polynomial data

Robust controller interface to Kinova-gen3

sliding mode control and estimation methods for robotic systems

model error compensator (matlab codes of journal article) robust control

This project was done as the final project of my Robust Control university course.

A repo for using different dynamic world modeling for prediction and control: including deep learning based koopman and State-Space Modes (SSM)

Robust control in Python using D-K iteration... and more!

Companion code for Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator

A Generalized H-infinity Mixed Sensitivity Convex Approach to Multivariable Control Design Subject to Simultaneous Output and Input Loop-Breaking Specifications

Six degrees-of-freedom (6DOF) dynamic modeling and adaptive/robust control of an anthropomorphic manipulator arm designed in Simulink environment.

Computationally tractable learning-based nonlinear tube MPC using difference of convex neural network dynamic approximation