In this project I compare the "First Order Sliding Mode" (FOSM) Control [1] with the classical "Approximate Linearization" (AL) Control in the case of a Perturbed Unicycle Model.
- Clone the repository:
git clone "https://github.com/cybernetic-m/fosm_control_pertubed_unicycle.git"
cd fosm_control_perturbed_unicycle- Open and run the "main.m" file
fosm_control_perturbed_unicycle
├── LICENSE
├── Papers
├── README.md
├── controller
│ ├── al_control.m => Approximate Linearization Controller
│ ├── fosm_control.m => FOSM Controller
│ └── utils
│ └── my_sign.m => Function to compute in a continuous way the sign function
├── gif_images
│ ├── e_theta_large.jpg
│ ├── e_x_large.jpg
│ ├── e_y_large.jpg
│ ├── gif_fosm.gif
│ └── traj_large.jpg
├── main.m => Main file for the simulations
└── utils
└── trajectory.m => To generate Circle and Lemniscate Curves
