nonlinear_controls

Nonlinear controls, linear controls, lyapunov based controls, barrier functions, MPC, geometric etc.

MPC Usage

Makes use of Eigen and qpOASES (currently, the applications are very specific)

LTI Dynamics: LinearMPC

namespace nlc = nonlinear_controls;

// solvers
nlc::MPCQPOases
nlc::MPCEpigraph

nlc::MPCQPOases mpc_(N, nx, nu);
mpc_.init_dynamics(A, B);
mpc_.set_gains(Q, P, R);
mpc_.set_input_bounds(input_lb, input_ub);
mpc_.set_state_bounds(state_lb, state_ub);

mpc_.construct(); // constructs the necessary cost and constraint matrices 
for(;;) {
  zOpt = mpc_.run(err_state);
  uOpt = zOpt.block(0, 0, nu, 1);
}