Robotics Control Learning Labs

Purpose

This repository is a public control-foundation hub for organizing robotics/control learning artifacts, including state-space modeling, LQR, observers, trajectory tracking, and MATLAB/Simulink workflows.

It supports the broader robotics research portfolio without exposing unpublished PhD control experiments, advisor notes, paper drafts, or private ablations.

Relation to Robotics and Control Research

My research direction requires planning and control for mobile manipulation under sensing, geometry, and uncertainty constraints. This repo supports that direction by organizing:

• state-space modeling practice,
• LQR and feedback-control baselines,
• observer/state-estimation examples,
• trajectory-tracking foundations,
• MATLAB/Simulink and Python analysis patterns,
• public control examples that can later connect to active scanning.

Related public repos:

Related repo	Public role
ipendulum	Inverted-pendulum MATLAB/Simulink lab with PID, LQR, pole placement, observers, LQG, and demo animations.
wmm-trajectory-tracking	Whole-body mobile-manipulator trajectory tracking and control support.
Cruise_control	MATLAB/Simulink control exercise and energy/control artifact.
RoboticScrewTheoryToolkit	Kinematics, screw theory, Jacobians, and robot math foundations.
line-scan-mobile-manipulator-demo	Downstream active-scanning scaffold that will need planning/control foundations.

Maturity Level

Current status: Public research organization repo / control-family hub.

This repository currently organizes the public-facing control structure and connects related control repos. It does not currently contain a runnable in-repo lab script, complete control library, or tested robot controller.

Implemented Now

• Repository structure.
• README and project organization.
• Public related-repository map.
• Link to public inverted-pendulum control support repo.
• Link to mobile-manipulator trajectory-tracking support repo.
• In-repo public-safe LQR lab.
• Observer lab in this repo.
• MATLAB/Simulink lab collection in this repo.
• Mobile-manipulator tracking comparison.
• Paper-supporting implementation.

Current Runnable Artifact

There is currently no runnable in-repo lab script in this public hub.

For concrete public control examples, see ipendulum and the related repositories listed above.

Planned Labs

• Public-safe LQR lab.
• Observer/state-estimation lab.
• State-space modeling notes.
• MATLAB/Simulink control examples.
• Trajectory-tracking metric comparison.
• Public plot or GIF generated from a real lab.

Limitations

This repository is currently an early-stage public control scaffold. It does not yet include:

• a full control curriculum,
• a tested robot controller,
• a mobile-manipulator tracking benchmark,
• complete observer labs,
• paper-level results.

MATLAB/Simulink examples may require licensed toolboxes.

How to Run

No run command is available yet because no in-repo runnable lab script is currently included.

When the first real public-safe lab is added and tested, this section should include:

python scripts/<lab_name>.py

Do not add generated plots or commands until the script and outputs actually exist.

Rights and Reuse

This repository is shared as a public academic portfolio/scaffold. Unless a separate open-source license is explicitly added, all rights are reserved by the author.

Related Organization

See docs/related-repositories.md for how the control repositories fit into the public/private research structure.