Getting started with ACADO for MPC

• libmpc

  8 105 5.1 C++

  libmpc++ is a C++ header-only library to solve linear and non-linear 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

• acado_demo

  1 4 10.0 C++

  Example stand-alone project using the ACADO optimal-control toolkit

A while back I made a self-contained demo for ACADO that could perhaps help you some. That said, I didn't really continue on with it. [CasADi]{https://web.casadi.org/) appeals to me a bit more. And really most of the time a homebrewed iLQR implementation gets the job done cleanly. Well, that's my 2-cents. Good luck!

• InfluxDB

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