qpmpc¶
Linear time-variant (LTV) model predictive control in Python. Solve a quadratic program of the form:
\[\begin{split}\begin{array}{rl}
\underset{x_k, u_k}{\min} \quad & w_{t} \|x_N - x_{\mathit{goal}}\|_2^2 + w_x \sum_{k=0}^{N-1} \| x_k - x_{\mathit{goal}} \|_2^2 + w_u \sum_{k=0}^{N-1} \| u_k \|^2_2 \\
\mathrm{s.t.} \quad & x_{k+1} = A_k x_k + B_k u_k \\
& C_k x_k + D_k u_k \leq e_k \\
& x_0 = x_{\mathit{init}}
\end{array}\end{split}\]
The library provides a one-stop shop solve_mpc() function that computes the Solution corresponding to such a Problem.
Getting started
API documentation