Application of SDDTMPC to control a unicycle

doi: 10.4121/3f1b28ee-2eca-4bac-bc2e-5ae2d2db4a5f.v1
The doi above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
doi: 10.4121/3f1b28ee-2eca-4bac-bc2e-5ae2d2db4a5f
Datacite citation style:
Surma, Filip (2023): Application of SDDTMPC to control a unicycle. Version 1. 4TU.ResearchData. software.
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

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.

  • 2023-11-06 first online, published, posted
Matlab code, mat files, fig files
  • Netherlands Organization for Scientific Research, 655.010.207
TU Delft, Faculty of Aerospace Engineering, Department of Control & Simulation


To access the source code, use the following command:

git clone