Realization and simulation of an AGV dynamic model for the design of H-infinite and LQG optimal controllers. The project has been realised for the course of Uncertain Systems Control at University of Pisa (Course Of Studies in Robotics).
MATLAB 2022b or later versions.
Inside the FINAL_PROJECT folder:
Execute the script "LQG_no_actuators.m" to design a LQG optimal controller without actuator transfer functions. For the simulation execute the simulink model "LQG_no_integrator.slx" for linearized system and the simulink model "LQG_nonlinear.slx" for non linear system.
Execute the script "LQG_integrator.m" to design a LQG optimal controller without actuator transfer functions and with integral action.
Execute the script "LQG_act.m" to design a LQG optimal controller with actuator transfer functions. For the simulation execute the simulink model "LQG_no_integrator_act.slx" for linearized system.
Execute the script "Hinf_controller_hinfsyn.m" and "Hinf_controller_mixsyn.m" to design a H-infinite controller with two differente methods. For the simulation execute the simulink model "mixed_sensitivity.slx" for linearized system and the simulink model "mixed_sensitivity_nonlin.m" for non linear system.
Execute the script "DK_iteration.m" to design an H-infinite controller with DK-iteration. For the simulation execute the simulink model "dk_lin.slx" for linearized system and the simulink model "dk_non_lin.m" for non linear system.
Inside the LFTDATA folder:
Execute the script "Hinf_controller_Hinf.m" and "Hinf_controller_mixsyn.m" to design a H-infinite controller with two differente methods. For the simulation execute the simulink model "mixed_sensitivityhinf.slx" for linearized system and the simulink model "mixed_sensitivity_nonlin.m" for non linear system.
Execute the script "DK_iteration.m" to design an H-infinite controller with DK-iteration. For the simulation execute the simulink model "dk.slx" for linearized system and the simulink model "dk_nonlin.m" for non linear system.