stevemessinger / L1_MPC-HELI
Non-Linear L1-Adaptive Model Predictive Control of a Micro 3D Helicopter
☆10Updated 2 years ago
Related projects ⓘ
Alternatives and complementary repositories for L1_MPC-HELI
- Model Predictive Controller for a quadcopter model using online learning with recursive Gaussian process regression in ROS-Gazebo☆14Updated 6 months ago
- ☆24Updated last year
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆17Updated this week
- MPC implementation for quadrotors using acados☆30Updated 2 years ago
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆29Updated last year
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆20Updated last year
- ☆29Updated 3 years ago
- Model Predictive Controller for a quadcopter model using Acados nlp optimization☆16Updated 2 years ago
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆43Updated 5 months ago
- Robust Online Motion Planning using Contraction Theory☆53Updated 5 years ago
- Auto-Multilift is a novel learning framework for cooperative load transportation with quadrotors. It can automatically tune various MPC h…☆17Updated last week
- A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis …☆36Updated 2 years ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆26Updated 3 years ago
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆38Updated 2 years ago
- Unofficial geometric control implementation on quadrotors☆27Updated last year
- Code of my CDC 2023 Paper: Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction☆20Updated last year
- Implementation of a multi-rate control architecture based on MPC and CBF☆16Updated 3 years ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆54Updated last year
- ☆26Updated last year
- A modular and scalable simulation framework for ultra-rapid prototyping of self-adaptive, stochastic and robust Nonlinear Model Predictiv…☆18Updated 3 weeks ago
- Develop a Koopman operator based MPC for controlling a quadrotor☆40Updated 3 weeks ago
- Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles☆42Updated last year
- ☆36Updated 7 months ago
- A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation☆47Updated 3 years ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆28Updated 3 years ago
- ☆37Updated 8 months ago
- Model Predictive Control for a quadrotor in static and dynamic environments☆60Updated 2 years ago
- ☆20Updated 4 months ago
- Get started with Reachability-based Trajectory Design for static obstacles☆62Updated 2 years ago