Automatic-Control-Systems-III

Project for Automatic Control Systems III Course / Aristotle University of Thessaloniki / Winter Semester 2020

Part 1

Description:

• Running a simulation of a closed loop system (ode45) i) with and ii) without a discontinuous nonlinearity using a) step function b) ramp function as input
• Conclude about system stability

Part 2

Description:

Trajectory Planning of 2-link Robot Manipulator using:

• A) Feedback Linearization
• B) Sliding Mode Control

Status of the project

As of the completion of the project, it will probably NOT be maintained. Future projects regarding robot links and sliding mode control could be implemented using parts of this code though. It may hold inaccuracies and could be implemented in more efficient ways regarding speed and recources management.

Code

MATLAB R2018a version. Using a different version, you may need to customize some commands.

Support - Contact

Reach out to me:

• dimitris.kave@gmail.com