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Implementation of SCvx, linear MPC and LQR for trajectory generation and tracking

License: MIT License

CMake 2.09% C++ 91.91% Python 5.89% Shell 0.11%

optimal-control rocket spacecraft

scpp's Introduction

This library implements various optimal control algorithms that are particularly suited for aerospace applications.

Guidance and Control Algorithms

Efficient Successive Convexification, a real-time guidance algorithm for optimal trajectory planning of constrained dynamical systems
Generic linear receding-horizon SOCP MPC algorithm
Linear Quadratic Regulator

Features

JIT derivative code generation with CppAD/CppADCodegen
Intuitive interface to implement custom models
Rapid iteration with parameters files

Current Models

2D Rocket Model
Rocket Landing Model with Quaternion
Rocket Landing Model with Euler Angles

Dependencies

C++17
Eigen
Boost (odeint and ptree)
fmt (included as submodule)
CppAD/CppADCodegen (included as submodule)
Epigraph (included as submodule)

Instructions

Install

git clone --recurse-submodules https://github.com/EmbersArc/SCpp.git
cd SCpp
mkdir build
cd build
cmake ..
make

Run

Available executables are:

LQR_sim to simulate a trajectory with the classic MPC controller
MPC_sim to simulate a trajectory with the classic MPC controller
SC_oneshot to calculate one trajectory with Successive Convexification
SC_sim to simulate a trajectory with Successive Convexification

Calculated trajectories are written to the output/<modelname> directory.

Create a Custom Model

See existing models in the socp_models folder for some examples.

Papers

Examples

(click on videos for higher quality versions)

Rocket Trajectory Model with Free-Final-Time

SpaceX Starship Landing Trajectory

2D Rocket Landing Problem

feed-forward input tested in a box2d physics simulation

Cartpole

Contributing

I'm looking forward to contributions, both problem formulations and improvements to the core library.

scpp's People

Contributors

Stargazers

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scpp's Issues

CMake error

`CMake Error at CMakeLists.txt:9 (find_package):
Could not find a package configuration file provided by "Eigen3" with any
of the following names:

Eigen3Config.cmake
eigen3-config.cmake

Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
"Eigen3_DIR" to a directory containing one of the above files. If "Eigen3"
provides a separate development package or SDK, be sure it has been
installed.

-- Configuring incomplete, errors occurred!
See also "D:/SCpp/build/CMakeFiles/CMakeOutput.log".`

Hello, I tried to test the project, but when I run the command : cmake .. , I have this error, and I don't know how to patch it. If you can help me, it would be nice !

ecos solver setup null

hi,I had already installed ksp and krpc.
but when I run the code,I met another problem.I cannot run the scpp program.
I debug the program ,find that ecos_setup receive a NULL return value.
Do you know what happed?
I'm interested to this project.If there are something I can do,I'd glad to help.

Successive convexification for nonlinear MPC?

Hi,

Awesome work, are there any plans to add Successive convexification for Nonlinear MPC instead of directly solving the convex problem(linearised dynamics) with SOCP?

Thanks,
Divya Tiwari

tutorial

Good Evening,

I was wondering if you have a more detailed tutorial. For example, the operating system that you are using and the dependency versions. I have installed all the dependencies and I am only getting warnings with cmake. When I try to use make, I get the error, make: *** No targets specified and no makefile found. Stop.

Any advice is greatly appreciated.

Thanks,

Curtis