Trajectory tracking controller using linear and nonlinear MPC.
numpy, matplotlib, scipy, CVXPY, control, csv, acados
(Please follow the official doc to install acados.)
One can uncomment specific lines in runsim.py to enable different controllers.
git clone https://github.com/SailorBrandon/MPC-for-Quadrotors.git
cd MPC-for-Quadrotors
python runsim.py