In this project, I have implemented multiple control strategies, and tested them on an RRBot in Gazebo. The control strategies were implemented in MATLAB, and the RRBot was spawned in Gazebo and controlled with ROS. gazebo_ros_demos package was used to spawn the RRBot. The dynamic model was generated and represented in state-space form, and this model was used as a starting point for imlementing all the control strategies.
Will be added shortly
ROS Version: Noetic
Gazebo Version: 11.9.1
MATLAB: 2021b
IDE: VS Code
(Any IDE of choice can be used)
3rd party libraries:
- gazeb0_ros_demos
Will be updated shortly