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Model Predictive Control (MPC)

Toy unicycle MPC

System

uni_system

Controls

uni_controls

Demo

mpc

Car contouring control

System

car_system

Controls

car_controls

3rd-degree polynomial RK4

3_mpcc_rk4

3rd-degree polynomial Direct Collocation

3_mpcc_colloc

5th-degree polynomial RK4

5_mpcc_rl4

Hessian sparsity

RK4

rk4_s

Direct collocation

colloc_s