Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

Control strategies for rotary wing Micro Aerial Vehicles using ROS

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

控制算法，状态、输出反馈控制。ADRC自抗扰控制，抗积分饱和PID控制，增量式PID控制，模糊FuzzyPID控制，线性二次型调节器LQR控制，线性二次型积分器LQI控制，迭代iLQR控制，模型预测MPC控制，AI智能控制，启发算法控制，强化学习SAC、PPO控制，无人机、机器人、小车轨迹跟踪控制

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

Trajectory Tracking Controller for ROS Package Using Nonlinear Model Predictive Control (MPC) with C/GMRES Method

An application to test controllers on mobile robots.

Motion Control of Self-Driving Car for Trajectory Tracking

Python package designed for collecting and processing trajectory data.

Code for our RSS'21 paper: "Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control"

It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear …

A simple, easy-to-use, and effective path tracking planner.

ROS Trajectory Tracking Control package

Learning Certified Control Using Contraction Metric (CoRL 2020)

Published in Nature Communications: Model-free tracking control of complex dynamical trajectories with machine learning.

LQR controller for quadrotors

Point Projection On Parametric Curves / Trajectory Maps for Autonomous Driving

construction machine positioning with stereo visual SLAM at dynamic construction sites

Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.

Use Iterative Learning Control (ILC) for trajectory tracking task with the existence of model mismatch. Model Predictive Control (MPC) is also used for comparison.