PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)
Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.
[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot
An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC
Optimal Control Strategies on Cart-pole System in Simscape Multibody Simulation
Non-linear model predictive control (NMPC) library
Public Code Repository of the iRotate Active SLAM for Omnidirectional robots at the Max Planck Institute for Intelligent Systems, Tübingen
A pseudo-spectral collocation based multi-phase Optimal control problem solver
A trajectory generator utilizing the A-star algorithm in conjunction with a Nonlinear Model Predictive Control solver to obtain a smooth trajectory that satisfies vehicle constraints.
Project codes for NMPC based Target Tracking
Nonlinear Model-Predictive Control on Resource-Constrained Microcontrollers
MPC pathtracking implementation with python, solved by PANOC/IPOPT
Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot
Unitree Go2 quadruped robot dog — RL locomotion training (MuJoCo + Gazebo Harmonic), ROS2 CHAMP and Quad-SDK NMPC walking controllers, PPO policy, keyboard teleop, and multi-terrain simulation
To associate your repository with the nmpc topic, visit your repo's landing page and select "manage topics."