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].
To clone the repository, run
$ git clone git@github.com:decargroup/matrix_scheduling_vsp_controllers.gitTo install all the required dependencies for this project, run
$ cd matrix_scheduling_vsp_controllers
$ pip install -r ./requirements.txtTo generate Figure 3 and Figures 5-7 in the paper, run
$ python main.pyThe plots can be saved to ./Figures by running
$ python main.py --savefig