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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.
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52
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Added processing scripts for the validation dataset
34f1397View on GitHubAdded recorded rosbags and raw measurements from practical experiments
4443d94View on GitHubUpdated simulation files to prepare for Exam presentation
4d5a442View on GitHubUpdated README to specify ACADO version used for MPC simulation
aea3dccView on GitHubClosed-loop balance controller Pole/zero computation
762505aView on GitHubUpdated MPC parameters and visualization during simulation
c9d8235View on GitHub