https://github.com/decargroup/matrix_scheduling_qsr_dissipative_systems
Control of the Three-Link Robotic Manipulator discussed in Section VI of Matrix-Scheduling of QSR-Dissipative Systems
https://github.com/decargroup/matrix_scheduling_qsr_dissipative_systems
gain-scheduling nonlinear-control qsr-dissipativity
Last synced: 12 months ago
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Control of the Three-Link Robotic Manipulator discussed in Section VI of Matrix-Scheduling of QSR-Dissipative Systems
- Host: GitHub
- URL: https://github.com/decargroup/matrix_scheduling_qsr_dissipative_systems
- Owner: decargroup
- License: mit
- Created: 2024-05-22T19:12:12.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-05-27T19:18:37.000Z (about 2 years ago)
- Last Synced: 2025-06-13T12:05:38.957Z (about 1 year ago)
- Topics: gain-scheduling, nonlinear-control, qsr-dissipativity
- Language: Python
- Homepage:
- Size: 38.1 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Matrix-Scheduling of QSR-Dissipative Systems
Accompanying code for the control of the planar rigid three-link robotic manipulator used in Section VI of Matrix-Scheduling of QSR-Dissipative Systems.
## Required License
The LMI solver used along CVXPY is MOSEK, which requires a license to use. A personal
academic license can be requested [here](https://www.mosek.com/products/academic-licenses/).
## Installation
To clone the repository, run
```sh
$ git clone git@github.com:decargroup/matrix_scheduling_qsr_dissipative_systems.git
```
To install all the required dependencies for this project, run
```sh
$ cd matrix_scheduling_qsr_dissipative_systems
$ pip install -r ./requirements.txt
```
## Usage
To generate Figures 6-9 in the paper, run
```sh
$ python main.py
```
The plots can be saved to `./Figures` by running
```sg
$ python main.py --savefig
```