control-toolbox
libmpc
| control-toolbox | libmpc | |
|---|---|---|
| 1 | 8 | |
| 1,363 | 109 | |
| 5.1% | - | |
| 0.0 | 5.1 | |
| over 1 year ago | 3 months ago | |
| C++ | C++ | |
| BSD 2-clause "Simplified" License | MIT License |
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control-toolbox
libmpc
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When creating a nonlinear MPC controller with acados, is it recommended to develop in C++ or use the Matlab interface to generate C++ code?
If you are interested it’s free and open-source! https://github.com/nicolapiccinelli/libmpc
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Neural MPC
If you are able to load a pretrained agent in C++ than you can give a look to libmpc++. The state model is defined by an anonymous function where you can just put the inference of your model. https://github.com/nicolapiccinelli/libmpc
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Getting started with ACADO for MPC
Hello! If you want a possible alternative to implement a linear and nonlinear mpc in c++ you can give a look to libmpc++. It’s a library I’ve developed during my PhD and it’s free to use, I’ve successfully used it control several manipulators and mobile robots. Here’s the link https://github.com/nicolapiccinelli/libmpc
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solving model predictive control with IPOPT
Hi, if you want, you can look at this open-source MPC library I developed during my PhD: https://github.com/nicolapiccinelli/libmpc. The non-linear MPC solver is implemented using NLOpt and in particular, I've adopted SLSQP as the Model Predictive Toolbox in MATLAB. There are some convening APIs to define the vector field of the system, constraints etc.
- Resource for MPC controller
- Using ACADO to solve real time MPC problems
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MPC with ACADO
ACADO is just an optimization framework, so to solve the MPC you have to build the optimization problem by yourself and then solve it with ACADO. If you want I’ve built a c++ library which let you define directly the MPC control low https://github.com/nicolapiccinelli/libmpc
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libmpc++ is a C++ header-only library to solve linear and non-linear MPC
Public mirror of the project: https://github.com/nicolapiccinelli/libmpc
What are some alternatives?
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
neural-mpc - Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
QDriverStation - Cross-platform clone of the FRC Driver Station
teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
ocs2 - Optimal Control for Switched Systems
TemporalSetInversion - Reference implementation for "Temporal Set Inversion for Animated Implicits" (SIGGRAPH 2023)