Erivelton Gualter

Erivelton Gualter

Automation and Control Engineer

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Matlab

Here contains some code in MATLAB that I have been working ...

wheelig simulation

Wheeling Simulation

  • Wheelchar paramters from a real wheelchair;
  • Open Loop optimal control;
  • Inspired in LQR;
  • Assisted-power wheelchair;
  • github repository





    • wheelig simulation

    Six Link Robot

  • Probabilistic Roadmap (PRM)
  • Guide a robot to avoid objects in the workspace
  • Sparse graph using Dijkstra's algorithm
  • github repository






    • wheelig simulation

    Quadrotor Control in the Plane

  • Following a line trajectory
  • Considered the thrust force in the Y-Z Plane;
  • Proportional Derivative controller;
  • Control the height of quadrotor;
  • ODE 45 solver;
  • Dynamic model is nonlinear
  • github repository



    • wheelig simulation

    Quadrotor Control in the Plane

  • Following a sine waive trajectory
  • Considered the thrust force in the Y-Z Plane;
  • Proportional Derivative controller;
  • Control the height of quadrotor;
  • ODE 45 solver;
  • Dynamic model is nonlinear
  • github repository



    • wheelig simulation

    3D Controller Quadrotor

  • Proportional Derivative controller;
  • Position and Attitude Control;
  • ODE 45 solver;
  • github repository






    • wheelig simulation

    Dijkstra Planner

  • Works by visiting vertices in the graph
  • Find a shortest path
  • github repository







    • wheelig simulation

    AStarGrid Planner

  • Find a shortest path
  • Faster than Dijkstra Planner
  • github repository







    • wheelig simulation

    Gradient Based Planner

  • Guide a robot from one location to another in 2d Space
  • Used artificial potential fields
  • Energy surface
  • github repository





    • wheelig simulation

    Two link robot arm

  • Guide a robot to avoid objects in the workspace
  • github repository






    • Others activities

  • CC9220 - Advanced Programming Language I
  • EL9420 - Advanced Control Class I
  • EL9420 - Advanced Control Class II
  • EL9720 - Digital Signal Processing
  • Z Transform Mappings
  • Eight Puzzle Game (in Java)