Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Python implementation of an automatic parallel parking system in a virtual environment, including path planning, path tracking, and parallel parking

[RA-Letter 2023] RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

控制算法，状态、输出反馈控制。ADRC自抗扰控制，抗积分饱和PID控制，增量式PID控制，模糊FuzzyPID控制，线性二次型调节器LQR控制，线性二次型积分器LQI控制，迭代iLQR控制，模型预测MPC控制，AI智能控制，启发算法控制，强化学习SAC、PPO控制，无人机、机器人、小车轨迹跟踪控制

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

Assetto Corsa OpenAI Gym Environment

A convex MPC locomotion controller implemented in MuJoCo with Unitree Go2 quadruped

J. Berberich, J. Köhler, M. A. Müller and F. Allgöwer, "Data-Driven Model Predictive Control With Stability and Robustness Guarantees," in IEEE Transactions on Automatic Control, vol. 66, no. 4, pp. 1702-1717, April 2021, doi: 10.1109/TAC.2020.3000182.

Unofficial implementaton of the paper DTC: Deep Tracking Control

A rigid-tube based robust MPC python package.

Differential Dynamic Programming (DDP) with automatic symbolic differentiation

Code for the paper Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization

A hybrid collision avoidance system combining Deep Reinforcement Learning with Model Predictive Control, designed for autonomous vehicles in CARLA to navigate scenarios with stationary obstacles.

Model Predictive Controller tested on Carla simulator on Race track with reference velocity.

RRT*-MPC path planning for spacecraft navigation in dynamic environment. Graded project for the ETH course "Planning and Decision Making for Autonomous Robots".

Pytorch implementation of Model Predictive Control with learned models

Python package for model predictive control (MPC) for EPASWMM5 models

This repository contains the code for our paper on Dynamic Mirror Descent based MPC for Model-Free RL

Robust and nonlinear Direct Data-Driven MPC controllers for LTI and nonlinear systems in Python