TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers

If you have any questions related to the solver, visit the GitHub Discussions page. This guarantees accessibility for everyone.

The documentation is available at tinympc.org

High-level language interfaces with detailed examples and code generation are available in Python, Julia, and MATLAB.

Building

For Windows - Enable wsl before following prompts below

On terminal, clone this repo

git clone https://github.com/TinyMPC/TinyMPC.git

Navigate to root directory and run

cd TinyMPC && mkdir build && cd build

Run CMake configure step

cmake ..

Build TinyMPC

cmake --build .

Examples

Run the quadrotor_hovering example

./examples/quadrotor_hovering

Run the codegen_cartpole example then follow the same building steps inside that directory

./examples/codegen_cartpole

Citing TinyMPC

If you are using TinyMPC, we encourage you to

Cite the related papers:

@inproceedings{tinympc,
      title={TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers}, 
      author={Khai Nguyen and Sam Schoedel and Anoushka Alavilli and Brian Plancher and Zachary Manchester},
      booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
      year = {2024}
}

@misc{tinympc2,
      title={Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC}, 
      author={Sam Schoedel and Khai Nguyen and Elakhya Nedumaran and Brian Plancher and Zachary Manchester},
      year={2024},
      eprint={2403.18149},
      archivePrefix={arXiv},
}

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Bug reports and support

Please report any issues via the Github issue tracker. All types of issues are welcome including bug reports, documentation typos, feature requests and so on.

Running on MCUs

Numerical benchmarks against other solvers on MCUs are available here.