TY - DATA
T1 - Application of SDDTMPC to control a unicycle
PY - 2023/11/06
AU - Filip Surma
UR - 
DO - 10.4121/3f1b28ee-2eca-4bac-bc2e-5ae2d2db4a5f.v1
KW - Robust optimization
KW - robotics
KW - nonlinear control
KW - robust control
KW - MPC
N2 - <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>
ER -