Examples Gallery

Explore practical applications of OpenSMC through these detailed examples and Jupyter notebooks.

Tutorials & Basic Concepts

• Classical SMC (Double Integrator): A step-by-step introduction to composing surfaces and reaching laws for simple systems.
• • Inverted Pendulum Control: Using advanced sliding surfaces to balance an inverted pendulum.

• Advanced Control Scenarios

• • Quadrotor Trajectory Tracking (6-DOF): Full 6-DOF tracking using hierarchical sliding mode control.
  • • Crane Payload Positioning: Control of a single-pendulum crane with disturbance rejection using ESO.

  • Reinforcement Learning Integration

  • • Learning Optimal Sliding Surfaces: Training an RL agent to discover new sliding surfaces for unknown dynamics. (Coming soon — browse the notebooks folder)
    • • Adaptive Gain Tuning with RL: Using RL to dynamically tune the reaching law parameters. (Coming soon)

    • Comparative Studies

    • • Reaching Laws Comparison: A comparison of constant, exponential, and power-rate reaching laws.
      • • Super-Twisting Algorithm: Demonstrating chattering reduction with the Super-Twisting controller.

      • Note

      • All notebooks are available in the notebooks/ folder of the main repository. You can run them locally or via Google Colab.