Model Predictive Control
Repo for Model Predictive Control(MPC) implementations using different optimizers. Contains the following:
- fmincon(MATLAB) code for holonomic MPC
- CVXOPT(Python) code for holonomic MPC
- CVXOPT(Python) code for non-holonomic MPC
- Demo QP solver using CVXOPT
- Cubic spline and Bernstein polynomial fitting in Python for holonomic trajectories.
Repository Structure
.
├── polynomial_fitting
├── polyfit_spline_bernstein.ipynb (Notebook containing Holonomic cubic spline and Bernstein polyfitting in Python)
├── fmincon_holonomic
├── run.m (Main MATLAB code for holonomic MPC using fmincon)
├── CVXOPT_holonomic
├── main.ipynb (Notebook for holonomic MPC using CVXOPT in Python)
├── CVXOPT_nonhn
├── main.ipynb (Notebook for non-holonomic MPC using CVXOPT in Python)
├── CVX_demo.ipynb (Demo QP solver using CVXOPT)