This library implements various optimal control algorithms that are particularly suited for aerospace applications.
git clone --recurse-submodules https://github.com/EmbersArc/SCpp.git
cd SCpp
mkdir build
cd build
cmake ..
make
Available executables are:
LQR_sim to simulate a trajectory with the classic MPC controller
MPC_sim to simulate a trajectory with the classic MPC controller
SC_oneshot to calculate one trajectory with Successive Convexification
SC_sim to simulate a trajectory with Successive Convexification
Calculated trajectories are written to the output/<modelname>
directory.
See existing models in the socp_models
folder for some examples.
(click on videos for higher quality versions)
feed-forward input tested in a box2d physics simulation
I'm looking forward to contributions, both problem formulations and improvements to the core library.