https://github.com/decargroup/matrix_scheduling_vsp_controllers
Control of the Two-Link Robotic Manipulator shown in Figure 2 of Passivity-Based Gain-Scheduled Control with Scheduling Matrices
https://github.com/decargroup/matrix_scheduling_vsp_controllers
gain-scheduling nonlinear-control passivity-based-control very-strictly-passive-vsp
Last synced: 12 months ago
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Control of the Two-Link Robotic Manipulator shown in Figure 2 of Passivity-Based Gain-Scheduled Control with Scheduling Matrices
- Host: GitHub
- URL: https://github.com/decargroup/matrix_scheduling_vsp_controllers
- Owner: decargroup
- License: mit
- Created: 2024-05-27T19:39:51.000Z (about 2 years ago)
- Default Branch: master
- Last Pushed: 2024-08-26T14:12:34.000Z (almost 2 years ago)
- Last Synced: 2025-07-08T22:05:51.827Z (about 1 year ago)
- Topics: gain-scheduling, nonlinear-control, passivity-based-control, very-strictly-passive-vsp
- Language: Python
- Homepage:
- Size: 19.5 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Passivity-Based Gain-Scheduled Control with Scheduling Matrices
Accompanying code for the control of the planar rigid two-link robotic manipulator used in Section V of Passivity-Based Gain-Scheduled Control with Scheduling Matrices [[arXiv]](https://www.arxiv.org/abs/2408.06476) [[Slides]](https://drive.google.com/file/d/1-crOgLCHxBla6MH-zPWYoelzzhZyE5lR/view?usp=sharingP).
## Installation
To clone the repository, run
```sh
$ git clone git@github.com:decargroup/matrix_scheduling_vsp_controllers.git
```
To install all the required dependencies for this project, run
```sh
$ cd matrix_scheduling_vsp_controllers
$ pip install -r ./requirements.txt
```
## Usage
To generate Figure 3 and Figures 5-7 in the paper, run
```sh
$ python main.py
```
The plots can be saved to `./Figures` by running
```sg
$ python main.py --savefig
```