PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.
A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)
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
ROS stack with an efficient real-time NMPC for the Crazyflie 2.1
Public Code Repository of the iRotate Active SLAM for Omnidirectional robots at the Max Planck Institute for Intelligent Systems, Tübingen
[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot
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.
Non-linear model predictive control (NMPC) library
Project codes for NMPC based Target Tracking
Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot
MPC pathtracking implementation with python, solved by PANOC/IPOPT
MATLAB sample codes for Robotics engineering
automatic code generation for Nonlinear Model Predictive Control (NMPC)
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