Gradient-based Cooperative Control ofquasi-Linear Parameter Varying Vehicleswith Noisy Gradients

General

This repository contains the simulation code to reproduce the tables and figures presented in

Gradient-based Cooperative Control ofquasi-Linear Parameter Varying Vehicleswith Noisy Gradients

The code has the following entry point:

1. Figures for Section 5.1 "Single LTI Quadrotor" (corresponding to Fig.2-3 from the paper): Main_quadrotor_example.m
2. Figures for Section 5.2 "Multiple Interacting Vehicles with Non-Linear Friction" (corresponding to Fig.5-8 from the paper): Main.m

These will produce among others the material presented in the paper.

Prerequisites

To run Main_quadrotor_example.m, following toolboxes need to be installed:

1. CVX

To run Main.m, some additional toolboxes need to be installed:

1. YALMIP
2. sdpt3

The simulation code in this repository was tested in the following environment:

• Windows 10 Pro Version 21H2
• Matlab 2021b