-Koushik Kumaran, Anand Srikrishna
This Repository contains the MATLAB Code and corresponding helper functions for the control of an Omnidirectional Mobile Robot as part of the course SC42125-Model Predictive Control
main.m contains the majority of the code and performs the following tasks:
- Defines the continuous and discrete model of the Omnidirectional Mobile Robot.
- Calculates the Terminal Set corresponding the to given constraints and plots it.
- Performs Point-to-Point Control under Full Information State Feedback.
- Performs Point-to-Point Control under Output Feedback in the presence of disturbances acting on the input channel.
- Trajectory Tracking under Full Information State Feedback