Robotic control
This repository contains scripts implemented for the course of Robot Control, part of the Master Degree in Robotics and Automation Engineering, attended at the University of Pisa.
Project started during the early summer of 2021.
I've struggled a bit with time, since I had a full-time job all the way
through, but it's been good work.
Notes on the files included
- IWP_FL_ToBeChecked → Attempt at simulating the IWP system along its linearization
- Linear_IWP → Simulation of the linear system describing the IWP after the feedback linearization
Backstepping problem
Unfortunately I haven't been able to improve performances of the Backstepping algorithm. I'm not sure of where the problem lies, so I'm don't suggest using this as a reference for your problem.
Status of the project
Right now I've done everything I needed for the project related to my University exam. The files still need proper comments and help sections, but I'm not sure when I'll come back to this, or if.