This repository contains an adaptive control system implementation designed for enhancing the performance of dynamic systems. The adaptive control algorithm included in this project is capable of adjusting control parameters in real-time based on the system's dynamics, allowing for improved and more robust control.
generics: Contains matrices describing the dynamics of the robot. RRR_id_par.m: Main file to initiate the simulation. Y.m: Refresher file. J_pi.m: Jacobian of the parameters. J.m: Jacobian of the joints.
Clone the repository: bash Copy code git clone https://github.com/lucaricciatl/adaptive-control.git Navigate to the project directory: bash Copy code cd adaptive-control Review and modify parameters in the generics folder to match your specific robot dynamics. Usage
Run the simulation using RRR_id_par.m: matlab RRR_id_par.m
Adjust and customize the control parameters using the provided files (Y.m, J_pi.m, J.m) based on your requirements.
Contributions are encouraged! If you'd like to contribute, please check out the CONTRIBUTING.md file for guidelines.
This project is licensed under the MIT License. See the LICENSE file for details.