libmpc++ is a C++ header-only library to solve linear and non-linear MPC
Trajectory Tracking Controller for ROS Package Using Nonlinear Model Predictive Control (MPC) with C/GMRES Method
My exercises for my MPC course
This repository contains the file reproducing the simulation results of the paper: "MPC for tracking of constrained nonlinear systems"
This project implements a nonlinear kinematic bicycle model for vehicle motion and evaluates multiple trajectory tracking controllers, including PID, Pure Pursuit, Stanley, MPC, and Nonlinear MPC. The controllers are developed in C++ and compared in terms of tracking accuracy, stability, and control effort across different paths, and speeds.
Bring-up patches + ROS 2 tooling for OCS2 perceptive nonlinear-MPC on the Unitree Go2 (unitree_mujoco, ROS 2 Jazzy). Implements Grandia et al., IEEE T-RO 2023. Full attribution included.
Persian-language Model Predictive Control (MPC) workshop with hands-on MATLAB/CasADi implementations, developed at the Process Control Laboratory, K. N. Toosi University of Technology.
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