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frankabagnolee's Projects

auv_lbf icon auv_lbf

Lyapunov based controller design for trajectory tracking of an under-actuated autonomous underwater vehicle(AUV)

books icon books

电子书(计算机类，经济学，数学), 格式，pdf、mobi、epub

fuzzy-rl-wavelet-networks icon fuzzy-rl-wavelet-networks

Matlab code to control underactuated systems based on a hybrid approach that combines neural networks, reinforcement learning, fuzzy logic and wavelets.

mpc icon mpc

Autonomous control of an USV using Model Predictive Control

mpc_acc_2020 icon mpc_acc_2020

Repository containing all the files used for the simulation results of the paper 'Model Predictive Tracking Controller for Quadcopters with Setpoint Convergence Guarantees' by Alex Andriën , Demy Kremers, Dave Kooijman and Duarte Antunes

paper-simulation icon paper-simulation

Let's reproduce paper simulations of multi-robot systems, formation control, distributed optimization and cooperative manipulation.

radpbook icon radpbook

Source code for examples in Book "Robust Adaptive Dynamic Programming"

reinforcement-learning-algorithms-and-dynamic-programming icon reinforcement-learning-algorithms-and-dynamic-programming

Reinforcement learning Algorithms such as SARSA, Q learning, Actor-Critic Policy Gradient and Value Function Approximation were applied to stabilize an inverted pendulum system and achieve optimal control. So essentially, the concept of Reinforcement Learning Controllers has been established. The Reinforcement Learning Controllers have been compared on the basis of performance and efficiency and they are separately compared with the classical Linear Quadratic Regulator Controller. Each of the RL controller have been integrated with a Swing up controller. A virtual switch toggles between the Swing up controller and the RL controller automatically, based on the value of the angular deviation theta with respect to the vertical plane. My research paper and my undergraduate thesis have been uploaded for reference. All the codes have also been uploaded.

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