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.
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- Inverted Pendulum Control: Using advanced sliding surfaces to balance an inverted pendulum.
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Advanced Control Scenarios¶
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- Quadrotor Trajectory Tracking (6-DOF): Full 6-DOF tracking using hierarchical sliding mode control.
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- Crane Payload Positioning: Control of a single-pendulum crane with disturbance rejection using ESO.
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Reinforcement Learning Integration¶
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- Learning Optimal Sliding Surfaces: Training an RL agent to discover new sliding surfaces for unknown dynamics. (Coming soon — browse the notebooks folder)
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- Adaptive Gain Tuning with RL: Using RL to dynamically tune the reaching law parameters. (Coming soon)
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Comparative Studies¶
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- Reaching Laws Comparison: A comparison of constant, exponential, and power-rate reaching laws.
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- Super-Twisting Algorithm: Demonstrating chattering reduction with the Super-Twisting controller.
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Note
- All notebooks are available in the
notebooks/folder of the main repository. You can run them locally or via Google Colab.