cff-version: 1.2.0
abstract: "<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, MPC, TMPC, and SDD-TMPC were implemented.</p><p><br></p><p>SDD-TMPC needs to have a model of boundaries of future disturbance. I used a fuzzy logic-based model trained with a genetic algorithm.</p><p><br></p><p>4 scenarios were created to compare all methods:</p><p>1. Following a path in an empty trajectory</p><p>2. Moving closely to the wall</p><p>3. Moving through a narrow corridor.</p><p>4. Avoiding an obstacle</p><p><br></p>"
authors:
  - family-names: Surma
    given-names: Filip
    orcid: "https://orcid.org/0000-0002-6756-9598"
title: "Code for the Implementation of State-Dependent dynamic tube model predictive control            "
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/82150c4b-eea2-46f4-8a47-fcb6bf3d8e3d.v1
license: MIT
date-released: 2023-06-02