MPC Controller Skill

Overview

Expert skill for designing, implementing, and tuning Model Predictive Controllers for robotic systems, including both linear and nonlinear MPC.

Capabilities

• Derive kinematic and dynamic robot models
• Formulate MPC optimization problems (QP, NLP)
• Configure CasADi for symbolic differentiation
• Set up ACADO code generation for real-time MPC
• Implement constraint handling (velocity, acceleration, collision)
• Configure cost function weights (tracking, control effort)
• Implement warm starting for fast convergence
• Set up NMPC for nonlinear systems
• Configure terminal constraints and costs
• Optimize solver parameters for real-time execution