nmpc 开源项目推荐（66 个）

Shunichi09 /PythonLinearNonlinearControl

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

MizuhoAOKI /python_simple_mppi

Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

alphaville /optimization-engine

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

deng-haoyang /ParNMPC

A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)

MizuhoAOKI /nullspace_mpc

Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

MizuhoAOKI /mppi_swerve_drive_ros

[IROS 2024] MPPI (Model Predictive Path-Integral) Controller for a Swerve Drive Robot

ohtsukalab /autogenu-jupyter

An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC

junhengl /Cart_Pole_Simulink

Simscape多体模拟中车杆系统的最优控制策略

bcbarbara /crazyflie_nmpc

ROS stack with an efficient real-time NMPC for the Crazyflie 2.1

XueYifan1995 /Real-time-NMPC-for-USVs-CasADi

ICMRE-2021 coference paper codes

isri-aist /NMPC

Non-linear model predictive control (NMPC) library

mpopt /mpopt

A pseudo-spectral collocation based multi-phase Optimal control problem solver

eliabntt /irotate_active_slam

Public Code Repository of the iRotate Active SLAM for Omnidirectional robots at the Max Planck Institute for Intelligent Systems, Tübingen

wljungbergh /mpc-trajectory-generator

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.

PrakritTyagi /MPC_Target-Tracking_UAV

Project codes for NMPC based Target Tracking

aralab-unr /NMPCM

Nonlinear Model-Predictive Control on Resource-Constrained Microcontrollers

MizuhoAOKI /pympc_panoc_ipopt

用pony实现MPC路径跟踪，由PANOC/IPOPT解决

darshmenon /quadruped-robotics-stack

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

ICube-Robotics /acados_solver_ros2

Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.

winwinashwin /GA-aided-NMPC-tuning

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