Conic-TinyMPC adds second-order cone support and code generation to TinyMPC, delivering up to 142.7x speedup on embedded QP and SOCP problems for model-predictive control.
Optimization-based control for dynamic legged robots
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Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC
Conic-TinyMPC adds second-order cone support and code generation to TinyMPC, delivering up to 142.7x speedup on embedded QP and SOCP problems for model-predictive control.
- Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints