wzmbeijing / scpp

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

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

• Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems

• Successive Convexification for 6-DoF Mars Rocket Powered Landing with Free-Final-Time

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.