This repository contains a MATLAB/Simulink project for modeling, simulating, and controlling the Sawyer robot, a 7-DOF robotic manipulator. The project is divided into four parts: Kinematics, Dynamics ...

Abstract: Although numerous results exist on the control of nonlinear systems subject to either tracking error constraints or full-state constraints, most of them can ...

Abstract: MPC has gained popularity for its ability to satisfy constraints and guarantee robustness for certain classes of systems. However, for systems whose dynamics are characterized by a high ...

The US Program leads with the principle of racial justice and equity as a fundamental human right providing the foundational, over-arching, and unifying theme for all our work. Our strategic ...