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

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

Software

• Applied Mathematics
• Other Mathematical Sciences
• Mathematical Sciences

MPC, nonlinear control, robotics, robust control, Robust optimization

MIT

RefWorks, BibTeX, Reference Manager, Endnote, DataCite, NLM, DC, CFF

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.

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

4TU.ResearchData

Matlab code, mat files, fig files

• Netherlands Organization for Scientific Research, 655.010.207

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