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A gradient-based augmented Lagrangian framework for embedded NMPC
GRAMPC is a nonlinear MPC framework that is suitable for dynamical systems with sampling times in the (sub)millisecond range and that allows for an efficient implementation on embedded hardware. The algorithm is based on an augmented Lagrangian formulation with a tailored gradient method for the inner minimization problem. GRAMPC is implemented in plain C with an additional interface to C++ and MATLAB/Simulink.
The basic structure and usage of GRAMPC are described in the documentation...
Linux ERT target controls code generation from Simulink for computer based on MPC5200 and Linux. The target contains support for CANopen via Simulink blockset which integrates the CANopen driver to the generated code.
MIT's spacecraft simulator for control algorithm development
... Scientist for SPHERES. Algorithms may be implemented in C or Embedded MATLAB and executed in the MATLAB simulation environment to verify general desired behavior. With some limitations, the code used in the simulation can be directly transferred to the SPHERES hardware.
We are sharing this project with the public to gather more interest for SPHERES Guest Scientists. Feel free to use and contribute to this code base, just don't forget to credit the MIT Space Systems Lab if you distribute any results.
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Symofros is a robotics modeling software originally created by the Canadian Space Agency. Symofros basic functions include modeling Kinematics, Non-linear dynamics, Linear dynamics, Dynamics for constrained systems, and Systems with flexible links.