Infogxy / MPC-for-Quadrotors

Trajectory tracking controller using linear and nonlinear MPC.

Quadrotor Trackers using MPC

Trajectory tracking controller using linear and nonlinear MPC.

Dependencies

numpy, matplotlib, scipy, CVXPY, control, csv, acados

(Please follow the official doc to install acados.)

Usage

One can uncomment specific lines in runsim.py to enable different controllers.

git clone https://github.com/SailorBrandon/MPC-for-Quadrotors.git
cd MPC-for-Quadrotors
python runsim.py