This repo contains the code to simulate an MPC controller for a quadrotor. Offset-free MPC alongside with disturbance is implemented. Terminal set and terminal cost scaling have been developed to ensure lyapunov stability and recursive feasibility.
To build the environment run
conda env create -f environment.yml
Important: In order to run the simulation, you must have GUROBI licensed and available to use as a solver. The environment contains the gurobi package, and if one of the following scripts is ran, it will look for a license on your local machine.
In addition, to the following main.py notebooks have been provided to run simulations for various parameter changes of the MPC.
To simulate a simple point reference tracking run thef following
python main.py
There are three pre-made trajectories to try. These are located in the /trajectories folder. Most of the hyperparameters are hard-coded in the file due to time constraints. To see the parameters of the simulation run
python main_path_following.py -h
A runnable example:
python main_path_following.py -t trajectories/lissajous.npy -s 4