jvirdi2/Robust_estimator_design_for_switched_systems

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jvirdi2/Robust_estimator_design_for_switched_systems

jvirdi2

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Implementation of example problem in "Robust estimator design for switched systems with unknown switching time: An LMI based approach"

Kalman_Filter_and_Extended_Kalman_Filter

Implementation of an EKF to predict states of a 6 DOF drone using GPS-INS fusion. Also ass3_q2 and ass_q3_kf show the difference between state estimation without KF and with KF

A_star_and_Hybrid_A_star

Given a graph, A* finds the optimal path, if it exists, joining the start node to the goal node. Hybrid A* takes vehicle dynamics into consideration and generates a smoother path which the vehicle can follow. Both the implementations are optimized using dictionaries & heaps

ECE517_Nonlinear_and_Adaptive_Control

Contains simulation code for different homework assignment problems showcasing controller design for stabilizing systems with unknown parameters/distrubances etc

MPC_for_autonomous_vehicle_steering

Contains simulink model for lateral vehicle control using linear MPC (Model Predictive Control). The model is based off the following example: https://www.mathworks.com/help/releases/R2017b/mpc/examples/autonomous-vehicle-steering-using-model-predictive-control.html

MRAC_wing_rock_model

Application shows advantage of Classical MRAC using RBFs over PD control when unmodeled dynamics are present in the system (wing rock model).

Motion_planning_Coursera

Implementation of Path planning algorithms including Astar, Dijkstra Algorithm, probabilistic road maps etc

Estimation_and_Learning_Coursera

Contains material regarding how robots can determine states and other properties from noisy measurements etc.

ME_446_Robots_Dynamics_and_Control

Implementation of different kinds of controllers on a Catalyst 5 robot arm. The following website contains the entire summary of the work along with videos of the robot in action.