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AdaptiveControllerCpp

A Adaptive controller framework in C++

Introduction

This code is a C++ solution for adaptive controller where masses of the double pendulum are unknown. It has custom implementation of the runge kutta integrator and also solves the lyapunov equation in C++. For visualization a python script is used.

Demo

Demo 1

  • Starting angle: q1= pi/2 and q2= pi
  • Desired Trajectory q1=pi+sin(t) and q2=2pi-cos(t)

Adaptive Controller

The implementation for the adaptive controller is explained in the following link https://www.linkedin.com/pulse/adaptive-controller-shubharanshu-mahapatra-/?published=t

Lyapunov Function

I have used the following method to implement the lyapunov function. Follow the link credits: https://people.kth.se/~eliasj/NLA/matrixeqs.pdf

Pendulum Manipulator Equations:

Getting Started

These instructions is to help you get started

Prerequisites

  • g++
  • Python 3.x
  • Numpy
  • matplotlib

How To Use

  • make clean
  • make
  • ./AdaptiveController
  • python plot_data.py

Versioning

  • 1.0
    • First Release
    • Next Release will add a interface and tuneable parameters

Authors

  • Subhransu Mahapatra