We propose a Koopman-based tracking MPC (KTMPC) controller for nonlinear systems to track piecewise constant references. We demonstrate the proposed KTMPC controller both in simulations and real experiments using an Aion R6 autonomous ground vehicle. This repository contains the codes for the simulations and real experiments shown in our draft paper:
Ye Wang, Yujia Yang, Ye Pu, and Chris Manzie
Department of Electrical and Electronic Engineering, The University of Melbourne, Parkville VIC 3010, Australia