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

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

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

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

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

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

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

ICMRE-2021 coference paper codes

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

Non-linear model predictive control (NMPC) library

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.

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

automatic code generation for Nonlinear Model Predictive Control (NMPC)

Ros2 vendor for the Acados NMPC solver.

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

MATLAB sample codes for Robotics engineering

The Control and Adaptation with Pre-Dictive Sensitivity Enhancements

Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.