matthewpeterkelly Goto Github PK

acrobot_derivation_matlab

Derivation of the equations of motion and simulation for the acrobot, an under-actuated double pendulum robot.

bezier_curves

A few Matlab functions for creating and evaluating bezier curves.

bouncing_ball_matlab

Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.

bulirsch-stoer

Matlab implementation of the Bulirsch-Stoer method for solving initial value problems.

chebyshev_polynomials

Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.

continuous_finite_lqr

Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator

dircol5i

Trajectory Optimization in Matlab, specialized for problems with higher-derivatives (eg. jerk or snap) and / or implicit dynamics.

drivendampedpendulum

Matlab code for playing with the driven-damped-pendulum fractal

dsctutorials

A few simple tutorials for dynamical systems and control. Most require Matlab.

dynamics_function_gradient

Computes gradient of f(x) = A(x) \ b(x) in Matlab.

exponential_smoothing_matlab

Exponential smoothing for simple functions: max(), clamp(), abs(), ramp()...

fluencemapping

Trajectory optimization to match fluence profiles.

icra2015_kellyruina

Non-linear robust control for inverted-pendulum 2D walking

intromatlabdynamics

A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems

kinematic_constrained_trajectory

lagrange_mechanics_derivations

Tutorial: derive equations of motion for mechanical systems using Lagrange equations

matlab_animation_tutorial

An tutorial the goes over real-time animation in Matlab, as well as saving video files. Some advanced topics are covered as well.

matthewpeterkelly.github.io

A new place to host my personal website.

mdp_pendulum

Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.

me149_spring2018

Optimal Control for Robotics -- Tufts University -- ME 149 -- Spring 2018

miscpy

Miscellaneous python utilities

myjavapkgs

Java utility packages that I wrote, generally related to simulation.

numerical-methods-in-python

This project contains a set of standard numerical methods that I have implemented in python. The source-code for this project is intended to be read as a tutorial.

optimtraj

A trajectory optimization library for Matlab

particleswarmoptimization

Matlab implementation of particle swarm optimization. Well documented with examples.

poker-stats

Small library for computing poker statistics using Monte-Carlo simulation. The primary focus for the project is learning Rust.

polynomial_smoothing_matlab

Implementation of polynomial smoothing for several basic functions

polynomialsplines

Derivation of a few different polynomial splines using the Matlab symbolic toolbox. Also includes interpolation and fitting routines.

rangersimulation

Source code for my two most well-documented simulators for the Cornell Ranger walking robot.

rombergquadrature