Scripts demonstrating a variety of adaptive control algorithms.

Matlab implementation of the Adaptive Control Library

Code for testing a Model Reference Adaptive Control (MRAC) scheme to control the pitch of a plane under wing-rock dynamics, accounting for modeling errors by using Gaussian Process regression. Implementation based on [1].

Repo for estimation and control simulations in python

Application shows advantage of Classical MRAC using RBFs over PD control when unmodeled dynamics are present in the system (wing rock model).

Implementation of RESOLUTE pseudo-CT method for mMR.

Code to control an aeropendulum that reaches angular positions between 30 and -30 degrees.

Robot gripper controller based on MRAC and PID.

This repository has a simulator UI for path planning of robot using Model Reference Adaptive Control Algorithm (MRAC) to control the robot's trajectory by following the reference trajectory (reference model).