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advanced-robotics1.3---trajectoryplanning

Matlab Simulation, combine Controller (1.1), PathFinding (1.2) and TrajectoryPlanning

afismc

a new observer-based adaptive fuzzy integral sliding mode controller (AFISMC) is proposed based on the Lyapunov stability theorem. The plant under study is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. In addition, a norm-bounded time varying term is introduced to address the possible existence of un-modelled/nonlinear dynamics. Based on the classical sliding mode controller (SMC), the equivalent control effort is obtained to satisfy the sufficient requirement of SMC and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. The sliding surface is compensated based on the observed states in the form of linear matrix inequality (LMI). In order to relax the norm-bounded constrains on the control law and solve the chattering problem of SMC, a fuzzy logic (FL) inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, by aiming at evaluating the validity of the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

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centralized-planning

Motion planning and collision avoidance using MPC and strong duality

collision-risk-assessment-for-vessels

Collision detection; Ship domain

cruise-control-design-using-pid

A simple cruise control system with PID controller; design done in Simulink.

dynamic_path_train1

train

free

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ga_fuzzypid

Optimization of fuzzy control rules by genetic algorithm

inverse-velocity-obstacle

Inverse Velocity Obstacle is an algorithm used for collision avoidance using the concept of the collision cone similar to the Velocity Obstacle.

lalakaopu

motion-planning-algorithms

Matlab Implementations of some basic motion planning algorithms, such as A*, RRT, RRT*, Minimum Snap Trajectory Generation, etc..

moving-obstacle-navigation

Matlab program for avoiding moving obstacles based on Karl's thesis code

multiagent-collision-avoidance

path_planning.m

动态路径规划

shiplocalpathplanning

smc-for-motor

created a smc(sliding mode control) controller for a motor (for smc learning)

subcrawler

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v2rayn-core2

This is v2rayN-Core2