Related Projects

Software interfaced with acados

• Rockit (Rapid Optimal Control kit) is a software framework to quickly prototype optimal control problems. Notably, the software allows free end-time problems and multi-stage optimal problems. The software is currently focused on direct methods and relies heavily on CasADi. acados is interfaced as a Rockit solver by building on top of the Python interface of acados.

• TuneMPC - a Python package for economic tuning of nonlinear model predictive control (NMPC) problems.

• leap-c (Learning Predictive Control)

• openpilot is an open source driver assistance system. It has over 150 supported car makes and models. acados is used within openpilot for lateral and longitudinal MPC. It uses the Cython wrapper to the acados OCP solver in its software stack.

• COFLEX - COntrol scheme for large and FLEXible wind turbines

• bioptim - a Python library for optimal control in biomechanics.

• acados-STM32 - acados Nonlinear MPC example (inverted pendulum control) using HPIPM on STM32H7 device (Cortex-M7 @ 400 MHz)

• OpenOCL is an open-source MATLAB toolbox for modeling and solving optimal control problems. It can use CasADi with IPOPT as a solver. It also provides a higher level interface to acados, which is based on the MATLAB interface of acados.

Papers featuring acados

with embedded deployment

• Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation

• An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay

• NMPC for Racing Using a Singularity-Free Path-Parametric Model with Obstacle Avoidance

• Mobility-enhanced MPC for Legged Locomotion on Rough Terrain

• Continuous Control Set Nonlinear Model Predictive Control of Reluctance Synchronous Machines - IEEE Transactions on Control System Technology

• Steering Action-aware Adaptive Cruise Control for Teleoperated Driving

  • with public code on Github which has been applied on an F1TENTH vehicle

• Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms

• Agile perching maneuvers in birds and morphing-wing drones

other

• Contraction Properties of the Advanced Step Real-Time Iteration for NMPC — IFAC World Congress 2020

• Real-Time Nonlinear Model Predictive Control for Microgrid Operation — American Control Conference 2020

• Optimization-based Primary and Secondary Control of Microgrids

• TuneMPC — A Tool for Economic Tuning of Tracking (N)MPC Problems

• Model Predictive Control of Wind Turbine Fatigue via Online Rainflow-Counting on Stress History and Prediction

• Embedded Real-Time Nonlinear Model Predictive Control for the Thermal Torque Derating of an Electric Vehicle — IFAC 2021

• Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction