ipopt 开源项目推荐（86 个）

ethz-adrl /towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Geonhee-LEE /mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

ethz-adrl /ifopt

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

juanmanzanero /fastest-lap

Fastest-lap is a vehicle dynamics simulator. It can be used to understand vehicle dynamics, to learn about driving techniques, to design car prototypes, or just for fun!

HybridRobotics /MPC-CBF

《安全关键模型预测控制与离散时间控制障碍函数》，作者J. Zeng、B. Zhang和K. Sreenath https://arxiv.org/abs/2007.11718

HybridRobotics /NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

JuliaMPC /NLOptControl.jl

非线性控制优化工具

ImperialCollegeLondon /ICLOCS

MATLAB optimal-control software for direct collocation, trajectory optimization, and nonlinear programming workflows.

proxima-technology /casadi_mpc_nyuumon

『PythonとCasADiで学ぶモデル予測制御』 サポートサイト

AntonEvmenenko /2d_geometric_constraint_solver

2D Geometric Constraint Solver

McMasterU /HashedExpression

Type-safe modelling DSL, symbolic transformation, and code generation for solving optimization problems.

nocholasrift /mpc_trajectory_tracking

ROS MPC trajectory tracker. Currently only supports diff-drive/skid-steering UGVs.

tstran155 /Optimization-of-building-energy-consumption

This repo demonstrates how to build a surrogate (proxy) model by multivariate regressing building energy consumption data (univariate and multivariate) and use (1) Bayesian framework, (2) Pyomo package, (3) Genetic algorithm with local search, and (4) Pymoo package to find optimum design parameters and minimum energy consumption.

MizuhoAOKI /pympc_panoc_ipopt

用pony实现MPC路径跟踪，由PANOC/IPOPT解决

winwinashwin /GA-aided-NMPC-tuning

Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot

JuliaSmoothOptimizers /NLPModelsIpopt.jl

A thin IPOPT wrapper for NLPModels

robotology /find-superquadric

Fit a partial point cloud with a superquadric

mez /model_predictive_controller_cpp

This is MPC (model predictive controller) that can predict steering and throttle to drive in a simulator.

jnez71 /AcroCart

Underactuated double-pendulum (acrobot) on a cart to play with direct optimal control methods

kuralme /mpc_ros2

Nonlinear Model Predictive Controller ROS2