Passivity-Based Gain-Scheduled Control with Scheduling Matrices

Accompanying code for the control of the planar rigid two-link robotic manipulator used in Section V of Passivity-Based Gain-Scheduled Control with Scheduling Matrices [arXiv] [Slides].

Installation

To clone the repository, run

$ git clone git@github.com:decargroup/matrix_scheduling_vsp_controllers.git

To install all the required dependencies for this project, run

$ cd matrix_scheduling_vsp_controllers
$ pip install -r ./requirements.txt

Usage

To generate Figure 3 and Figures 5-7 in the paper, run

$ python main.py

The plots can be saved to ./Figures by running

$ python main.py --savefig