Main repository for the Kugle robot project. The repository contains the MATLAB code and Simulink models for the Kugle robot developed as part of the master thesis work. This includes a non-linear Quaternion ballbot model, Sliding mode attitude controller, Quaternion Extended Kalman filter and ACADO MPC for path-following.
Firstly I ran the "GeneratedMPC.m" to genetate the script "kugle_mpc_obstacles_codegen.cpp", "kugle_mpc_obstacles.mexw64" and so on, then I ran "TestGeneratedMPC.m" to test the generated MPC solver "kugle_mpc_obstacles" ,but errors occured when I did this. It displayed "Field od must be of size: 21 x 44 acado_output = kugle_mpc_obstacles(acado_input);"