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