mrac

Scripts demonstrating a variety of adaptive control algorithms.

Matlab implementation of the Adaptive Control Library

Code for testing a Model Reference Adaptive Control (MRAC) scheme to control the pitch of a plane under wing-rock dynamics, accounting for modeling errors by using Gaussian Process regression. Implementation based on [1].

Repo for estimation and control simulations in python

Project aims to implement a robust model refrence adaptive controller for a 4 dof robotic arm without explicitly calculating its complex dynamics.

Application shows advantage of Classical MRAC using RBFs over PD control when unmodeled dynamics are present in the system (wing rock model).

Implementation of RESOLUTE pseudo-CT method for mMR.

Code to control an aeropendulum that reaches angular positions between 30 and -30 degrees.

MuJoCo simulation and benchmarking suite comparing Cascaded IMC-PID, Direct MRAC, and Robust MRAC with sigma-modification leakage for non-linear cartpole stabilization.

Code for Project Thesis (Pre-Project for Master Thesis) FALL2025

Final Project for the Adaptive and Robust Control course, demonstrating the implementation of a Model Reference Adaptive Controller (MRAC) using the MIT Rule deployed on an STM32F1 microcontroller for a Fan-and-Plate system.

Robot gripper controller based on MRAC and PID.

This repository has a simulator UI for path planning of robot using Model Reference Adaptive Control Algorithm (MRAC) to control the robot's trajectory by following the reference trajectory (reference model).

3-DOF beverage stabilization platform comparing PID, RST, LQG, and MRAC controllers. Teensy 4.1 + Arduino UNO, Moteus BLDC drivers, BNO055 IMU. Includes Python scripts and experimental datasets.