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3dof_helicopter_benchmark

Simulink model of the Quanser 3D Helicopter

6.832_project

Trajectory optimization for quadrotor with slung load.

actorcritic4tankscontrol

Reinforcment Learning - Actor and Critic is used for the control of a 4 reservoirs system

adaptive_sliding_mode_control_of_aerial_manipulator

Adaptive Sliding Mode Control

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.

agile-coordination-for-quadrotor-swarms-using-vrb

Matlab implementation of control application that use Virtual Rigid Body model to move swarm of quadrotor UAVs into an environment with obstacles

ann-mpc

A Feed-Forward ANN based on MPC for a Three-Phase Inverter With an Output LC Filter

asif

CBF library used in a wide variety of simulation and hardware implementations. Embedded friendly, requires OSQP. Library originally written by Thomas Gurriet. Contains slightly modified version of libaffa, found here: https://github.com/ogay/libaffa

augmentor

Image augmentation library in Python for machine learning.

car-racing

A toolkit for testing different control algorithm for car racing

cbf

repository for control barrier function

cbf-clf-helper

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

cbf-pointwise-feasibility

"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

cnn_on_mcu

Code for paper: 'Multi-Component Optimization and Efficient Deployment of Neural-Networks on Resource-Constrained IoT Hardware' (paper under review)

code-samples

Holds code for our CVPR'23 tutorial: All Things ViTs: Understanding and Interpreting Attention in Vision.

conferences

Release code and media for conferences

control_sim

Models, code, and controllers for the development of smarter stormwater systems

courses

fast.ai Courses

datampc_parking

arXiv 2011.00413: (MATLAB Simulation) Collision Avoidance in Tightly-Constrained Environments without Coordination: a Hierarchical Control Approach.

deep-learning-coursera

Deep Learning Specialization by Andrew Ng, deeplearning.ai.

deeplearning

distributed-learning-and-cooperative-control

Codes reproducing paper Jongeun Choi, Songhwai Oh, Roberto Horowitz, Distributed learning and cooperative control for multi-agent systems, Automatica, Volume 45, Issue 12, 2009

dr-of-residential-houses-equipped-with-pv-bb-systems-an-application-study-using-eas_energies2020

This repository contains the experimental set up used for the paper: "Demand Response of Residential Houses Equipped with PV-Battery Systems: An Application Study Using Evolutionary Algorithms" Published in Energies journal MDPI 2020

drl-energy-management

Deep reinforcement learning based energy management strategy for hybrid electric vehicle

dsctutorials

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

ecml-tutorial-ml-meets-iot

Repository of the ECML PKDD 2021 tutorial title 'Machine Learning Meets Internet of Things: From Theory to Practice'

efficientad

Unofficial implementation of EfficientAD https://arxiv.org/abs/2303.14535

esvit

EsViT: Efficient self-supervised Vision Transformers

extentcbf

fan

Official PyTorch implementation of Fully Attentional Networks