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.)

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

Name		Name	Last commit message	Last commit date
Latest commit History 48 Commits
obsv_design		obsv_design
references		references
.gitignore		.gitignore
README.md		README.md
controller.py		controller.py
data.csv		data.csv
draw_fig_from_csv.ipynb		draw_fig_from_csv.ipynb
nonlinear_mpc_solver.py		nonlinear_mpc_solver.py
quadrotor.py		quadrotor.py
run_sim.py		run_sim.py
saveL.mat		saveL.mat
terminal_set.py		terminal_set.py
trajectory.py		trajectory.py
utils.py		utils.py