Module cgmres_nmpc 

Nonlinear MPC simulation with CGMRES (Continuation GMRES)

author: Atsushi Sakai (@Atsushi_twi) Ryohei Sasaki (@rsasaki0109) - Rust port

Reference:

• PythonRobotics: https://github.com/AtsushiSakai/PythonRobotics
• Shunichi09/nonlinear_control: Implementing the nonlinear model predictive control, sliding mode control https://github.com/Shunichi09/PythonLinearNonlinearControl

Note: This implementation may exhibit numerical instability in some scenarios. The C-GMRES algorithm is known to be sensitive to parameter tuning. For production use, consider adjusting zeta, ht, threshold, and other parameters.

Structs

NMPCControllerCGMRES

NMPC Controller using C-GMRES (Continuation GMRES) algorithm

NMPCSimulatorSystem

NMPC Simulator System for state prediction and adjoint calculation

TwoWheeledSystem

Two-wheeled robot system state

Functions

goal_distance

run_demo_simulation