Final Project for ECE539: Introduction to Artificial Neural Networks. NMPC-Net: An efficient alternative to Nonlinear Model Predictive Control.
This project includes a Python package NMPC_Net
which contains a nonlinear MPC for the kinematic bicycle model. It uses pyomo
and IPOPT.
The project also includes Jupyter Notebooks that train a neural network to replicate the Nonlinear MPC.
For more details, take a look at the Final Report.