Lyapunov Nonlinear Control GUI
This GUI can simulate and regulate a nonlinear dynamic system.
이 제출물을 팔로우합니다
- 팔로우하는 게시물 피드에서 업데이트를 확인할 수 있습니다
- 정보 수신 기본 설정에 따라 이메일을 받을 수 있습니다
To run the program, navigate to the root folder in MATLAB and type 'launch' at the command line. The default simulation controls seven motors with different inertia, friction, and back-emf parameters.
It's a powerful control algorithm for linear and nonlinear systems where a model is known. For best performance, run it with a small timestep and a very negative controller aggressiveness.
Background: Zelenak & Pryor, 2015, "Stabilization of Nonlinear Systems by Switched Lyapunov Function"
인용 양식
Andy Zelenak (2026). Lyapunov Nonlinear Control GUI (https://github.com/AndyZe/Lyapunov-Nonlinear-Control), GitHub. 검색 날짜: .
일반 정보
- 버전 1.20.0.0 (59.6 KB)
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GitHub에서 라이선스 보기
MATLAB 릴리스 호환 정보
- 모든 릴리스와 호환
플랫폼 호환성
- Windows
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- Linux
커뮤니티
GitHub 디폴트 브랜치를 사용하는 버전은 다운로드할 수 없음
| 버전 | 퍼블리시됨 | 릴리스 정보 | Action |
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| 1.20.0.0 | Adding reference.
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| 1.19.0.0 | Deleted the adaptation option (never finished it) and changed the V2 calculation. Performance is better now.
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| 1.18.0.0 | Added two tuning parameters that help with difficult systems such as integrators. Also eliminated vectorizing for the dynamic equations because it was confusing for new users (albeit faster).
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| 1.17.0.0 | Updating description- File Exchange overwrote it when I switched to GitHub. |
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| 1.16.0.0 | Changed hosting to GitHub so others can contribute. |
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| 1.15.0.0 | Added a reference to the ROS implementation. |
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| 1.14.0.0 | Updated GUI dialog boxes and allowed a more flexible array of saturation limits. |
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| 1.13.0.0 | Fixed an initial condition error that was revealed by the previous update and added a more impressive default example. |
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| 1.12.0.0 | Updated the picture |
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| 1.11.0.0 | Added another plot that is useful for visualizing higher-order problems (up to 7th order). |
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| 1.10.0.0 | Simplified the code to improve processing time by ~5%. Working on the C++ version for ROS now. |
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| 1.9.0.0 | Removed dependency on the image processing toolbox and updated to R2014b. |
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| 1.8.0.0 | Fixed plotting bug for 1st order systems. |
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| 1.7.0.0 | Minor changes to plotting and a more impressive example. |
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| 1.6.0.0 | Fixed an error where it was basically plotting the results I expected. Derp. Sorry if that confused anybody. |
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| 1.5.0.0 | The controller can now track a user-defined, time-varying function. The default example tracks a unit circle with a 2nd-order system. |
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| 1.4.0.0 | Big change this week! The user can specify any setpoint and the software will regulate the system to that setpoint. |
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| 1.3.0.0 | Changed to a different Alternative Lyapunov Function and fixed a vector dimension mismatch for >1 inputs. |
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| 1.2.0.0 | Removed some directories from the search path because they will be automatically added by my code. |
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| 1.1.0.0 | Updated the description to include launch directions. |
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| 1.0.0.0 |
