Derivation of the equations of motion and simulation for the acrobot, an under-actuated double pendulum robot.
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Repositories
MatthewPeterKelly repositories
A few Matlab functions for creating and evaluating bezier curves.
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Tutorial for event detection in Matlab - simulation of ball bouncing over hilly terrain.
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Matlab implementation of the Bulirsch-Stoer method for solving initial value problems.
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Tutorial for Chebyshev orthogonal polynomials, written in Matlab. Strongly inspired by the chebfun project.
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Derivation and implementation of continuous-time finite-horizon Linear Quadratic Regulator
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Trajectory Optimization in Matlab, specialized for problems with higher-derivatives (eg. jerk or snap) and / or implicit dynamics.
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Matlab code for playing with the driven-damped-pendulum fractal
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Computes gradient of f(x) = A(x) \ b(x) in Matlab.
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Exponential smoothing for simple functions: max(), clamp(), abs(), ramp()...
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Trajectory optimization to match fluence profiles.
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A basic introduction to Matlab, guided towards simulation and analysis of dynamical systems
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Tutorial: derive equations of motion for mechanical systems using Lagrange equations
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Creates a Markov Decision Process model of a pendulum, then finds optimal swing-up policy.
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The course website for 'Optimal Control for Robotics', which I taught at Tufts University in Spring 2018
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An tutorial the goes over real-time animation in Matlab, as well as saving video files. Some advanced topics are covered as well.
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A trajectory optimization library for Matlab
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Matlab implementation of particle swarm optimization. Well documented with examples.
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Derivation of a few different polynomial splines using the Matlab symbolic toolbox. Also includes interpolation and fitting routines.
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