This project is a course project for the Model Predictive Control course (SC42125). We'd like to apply Linear MPC to a challenging practical problem: catch a flying ball with a quadrotor. With the help of knowledge learned in the course, we will linearize the control problem, use MPC to find a solution and analysis its feasibility and stability with DARE and terminal set theory.
Clone the repo
git clone [email protected]:edmundwsy/SC42125-MPC.git
Installation Dependencies:
cd high_mpc
pip install -r requirements.txt
Add the repo path to your PYTHONPATH by adding the following to your ~/.bashrc
export PYTHONPATH=${PYTHONPATH}:/path/to/high_mpc
Standard MPC
cd high_mpc
python3 run_mpc.py
MPC_quad_ball.mp4
The simulation codes in this project is based on high_mpc, provided by Robotics and Perception Group, University of Zurich. Their impressive work has been a great inspiration to us.