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

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

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

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

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

Optimal Control Strategies on Cart-pole System in Simscape Multibody Simulation

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

ICMRE-2021 coference paper codes

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

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

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

MATLAB sample codes for Robotics engineering

Ros2 vendor for the Acados NMPC solver.

automatic code generation for Nonlinear Model Predictive Control (NMPC)