This is a Python implementation of the MPCC controller. As of 27 January 2021, the implentation is under review. Please note that the controller does not work as a correct manner as Matlab/C++ implementation.
This implementation depends on the following packages. Please see requirements.txt for more details.
- matplotlib
- numpy
- pandas
- scipy
- qpsolvers
- osqp
- numba
- sympy
With --render option, you can watch the animation
python nmpc_sim.py --render