https://github.com/antoineleeman/nonlinear-system-level-synthesis
Matlab implementation of the paper "Robust Nonlinear Optimal Control via System Level Synthesis"
https://github.com/antoineleeman/nonlinear-system-level-synthesis
Last synced: about 2 months ago
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Matlab implementation of the paper "Robust Nonlinear Optimal Control via System Level Synthesis"
- Host: GitHub
- URL: https://github.com/antoineleeman/nonlinear-system-level-synthesis
- Owner: antoineleeman
- License: mit
- Created: 2024-04-24T16:38:36.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-07-08T21:10:37.000Z (10 months ago)
- Last Synced: 2024-07-09T02:18:04.040Z (10 months ago)
- Language: MATLAB
- Size: 728 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Robust Nonlinear Optimal Control via System Level Synthesis.
This repository contains the MATLAB code that accompanies the research paper:
> Leeman AP., Köhler J., Zanelli A., Bennani S., Zeilinger MN. “Robust Nonlinear Optimal Control via System Level Synthesis”
> IEEE Transactions on Automatic Control (forthcoming)
The paper will appear in **IEEE Transactions on Automatic Control** and is freely available on [arXiv](https://arxiv.org/abs/2301.04943).
## Prerequisites
- MATLAB (tested with version R2023b on Macbook Pro (M1 Processor))
- CasADi (tested with casadi-3.6.4-osx_arm64-matlab2018b)
## Installation
1. Download and install MATLAB from the [official website](https://www.mathworks.com/products/matlab.html).
2. Install Casadi by following the instructions from the [official Casadi documentation](https://web.casadi.org/get/).
3. Clone this repository or download the code as a ZIP archive and extract it to a folder of your choice.
4. Add the code folder to your MATLAB path by running the following command in the MATLAB Command Window:
addpath('/path/to/your/code/folder');
## Usage
Run the main script (i.e., main.m) to execute the algorithms discussed in the paper.
## License
This project is licensed under the MIT License.
## Citation
If you use this code in your research, please cite our paper:
```
@article{leeman2024_nonlinearSLS,
title={Robust nonlinear optimal control via system level synthesis},
author={Leeman, Antoine P. and K{\"o}hler, Johannes and Zanelli, Andrea and Bennani, Samir and Zeilinger, Melanie N.},
journal={IEEE Transactions on Automatic Control (forthcoming)},
year={2024}
}
```
## Support and Contact
For any questions or issues related to this code, please contact the author:
- Antoine Leeman: aleeman(at)ethz(dot)ch
We appreciate any feedback, bug reports, or suggestions for improvements.