A modular and scalable simulation framework for ultra-rapid prototyping of self-adaptive, stochastic and robust Nonlinear Model Predictive Control for Autonomous Vehicle Motion Control

This repository contains the source code for “Unscented Kalman filter stochastic nonlinear model predictive control” (UKF-SNMPC).

Simple-to-use-and-extend implementation of the DeepMimic Approach using the MuJoCo Physics Engine and Stable Baselines 3, mainly for locomotion tasks.

MIT Spring 2020 Mechanical Engineering 2.152 Nonlinear Control (Professor Jean-Jacques Slotine)

Robust and nonlinear Direct Data-Driven MPC controllers for LTI and nonlinear systems in Python

Companion code for Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator

Computationally tractable learning-based nonlinear tube MPC using difference of convex neural network dynamic approximation

Decentralized Tube-Based Model Predictive Controller. Master Thesis project 2024

Robust control in Python using D-K iteration... and more!

A robust variant of MuZero

Convex Optimization for Optimal & Robust Control Design @ CU-ICAR

MIMO PID tuning via iterated LMI restriction

Implementation of value function-augmented MPC

This repository contains the code for the paper "Improving the Performance of Robust Control through Event-Triggered Learning".

Second Order State Hallucination (SOSH) mitigates attacks in formation control of multi-agent systems. Awarded the "People's Choice Award" at the 24th Annual Highschool Research Symposium.

Research-stage results; see docs/ for validation, benchmarks, and uncertainty notes.

AI-enabled digital twin gate for secure & resilient 6G (Python simulation)

Robust data-driven control for nonlinear systems using imperfect digital twins and LMI-based quadratic funnel certificates.

Advanced digital twin platform for ultra-high vacuum and precision control. Explore enhanced modeling and real-time synchronization for quantum applications. 🌍💻