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Name: Summer

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Summer's Projects

control-and-system-book

textbook about control, robotics, system

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs) (https://arxiv.org/abs/2109.12313, https://arxiv.org/abs/2105.10596, https://arxiv.org/abs/2007.11718)

polytopic-slsmpc

Implement SLS MPC for linear systems subject to polytopic model uncertainty and additive disturbances.

rekcarc-tsc-uht

清华大学计算机系课程攻略 Guidance for courses in Department of Computer Science and Technology, Tsinghua University

rmpc_simpletube

A simple robust MPC for linear systems with model mismatch: Balancing conservatism vs computational complexity

robust-mpc-sls

Code needed to reproduce examples in "Robust Closed-loop Model Predictive Control via System Level Synthesis," by S. Chen, H. Wang, M. Morari, V. M. Preciado, and N. Matni, https://arxiv.org/pdf/1911.06842.pdf

robust-tube-mpc

Robust model predictive control using tube

robust-tube-mpc-new

This simulation file demonstrates a variant of Robust Tube MPC in which the initial nominal state is a decision variable. Theoretical background can be found at "Mayne, David Q., María M. Seron, and S. V. Raković. "Robust model predictive control of constrained linear systems with bounded disturbances." Automatica 41.2 (2005): 219-224."

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