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updated 1 month ago

Solving Optimal Control Problems using Simscape Models for State Derivatives by Daniel Herber

This code replicates the results found in a tech report by the same name (brysondenham, design, control)

BrysonDenhamDerivative(t,y,u,p)

BrysonDenhamMain()

BrysonDenhamPlot(uMat,sMat,p)

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updated 4 months ago

Adaptive dynamic programming for uncertain continuous-time linear systems by Yu

Simulation code for the paper by Y Jiang and ZP Jiang, Automatica, 2012 (control design, machine learning, optimal control)

[]=Jiang2012Automatica()

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updated 1 year ago

OPTRAGEN by Raktim Bhattacharya

Optragen is a parser which translates optimal control problems to nonlinear programming problems. (motion planning, optimal control, optimization)

createArgList(OutputSequence)

createGuess(x,hl,Xval);

createMFunction(OutputSequence,Cin,tag,ProbName,ParamList)

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updated 1 year ago

Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription by James Allison

A toolbox for using Direct Transcription to perform combined plant and control design. (aerospace, automotive, control design)

...

calc_state_constraints(t, xd, xu, stateCon)

calc_zdot(x, z, v)

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updated 1 year ago

Optimal Control Using Control Vector Parameterization by Chang Duan

An example of using control vector parameterization to solve an optimal control problem (optimal control, direct sequential met..., control vector parame...)

Optimal Control Using Control Vector Parameterization

[topt,xopt,uopt,thetaopt]=plotopt1( x0,N,ts,dvarO,beta,rh...

[topt,xopt,uopt,thetaopt]=plotopt2( x0,N,ts,dvarO,beta,rh...

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updated 2 years ago

OptimPID: an optimal PID controller design interface by Dingyu Xue

OptimPID is a MATLAB based interface and it can be used to optimize PID parameters (pid controller, optimum pid, optimal control)

multi_step.m

optimpid(varargin)

mod_1R2009b

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updated almost 4 years ago

SimMechanics pendulum used for control optimization by Alan Jennings

Pendulum imported via SimMechanics generates dynamics for optimal dampening solved by DIDO. (control design, optimal control, pendulum)

Arm_1DOF_ResultsCheck_a

[Results,u_star2,t,Q,K,tset]=...

[Results,u_star2,t]=Arm_1DOF_LinearStateTransition_Fun(St...

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updated almost 4 years ago

Control optimization of a 4DOF arm using DIDO by Alan Jennings

4 DOF arm imported via SimMechanics generates dynamics for optimal pick-place control solved by DIDO (control design, optimal control, robot)

Arm_4DOF_ResultsCheck

[a,b]=Arm_4DOF_MinEnergy_Cost(x)

[t3,State3,Control_Out]=Arm_4DOF_PathCompose(Pose1,Pose2,...

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updated almost 5 years ago

An optimal control tutorial for beginners by Xuezhong Wang

A tutorial and sample code for solving optimal control problems with indirect methods. (optimal control, optimization, control design)

eg1OC

eg2OC_BVP

eg2OC_Descent

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updated almost 6 years ago

GPOPS by Camila Francolin

Solves multiple phase optimal control problems. (optimization, optimal control, gauss pseudospectral)

F=gpopsEndPointControl(u);

[Mayer,Lagrange]=brysonDenhamCost(sol,iphase);

[Mayer,Lagrange]=brysonMaxrangeCost(sol,iphase);

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