In this Notebook I am doing a quick implementation of the Learning-Based Model Predictive Control framework, proposed by Kabzan et.al. (2019). The paper that introduces this algorithm can be found through the following link.
https://www.research-collection.ethz.ch/handle/20.500.11850/351561
I am doing this implementation purely to understand the concept as detailed as possible in preperation for an interview for a master's thesis. All credit for the development of this framework goes to Kabzan et.al..
Future Plan: creating a proper class "Enhanced MPC controler" that takes in the state measurements of the vehicle, A trained GPR model and a Track to follow, and outputs a steering command. Possible optimization Solvers: CasADi, Scipy.solve()