MPC Controller Skill

Overview

Expert skill for designing, implementing, and tuning Model Predictive Controllers for robotic systems, including both linear and nonlinear MPC.

Capabilities

• Derive kinematic and dynamic robot models
• Formulate MPC optimization problems (QP, NLP)
• Configure CasADi for symbolic differentiation
• Set up ACADO code generation for real-time MPC
• Implement constraint handling (velocity, acceleration, collision)
• Configure cost function weights (tracking, control effort)
• Implement warm starting for fast convergence
• Set up NMPC for nonlinear systems
• Configure terminal constraints and costs
• Optimize solver parameters for real-time execution

Target Processes

• mpc-controller-design.js
• trajectory-optimization.js
• dynamic-obstacle-avoidance.js
• path-planning-algorithm.js

Dependencies

• CasADi
• ACADO Toolkit
• OSQP
• qpOASES
• Ipopt

Usage Context

This skill is invoked when processes require advanced model-based control, trajectory tracking with constraints, or real-time optimization-based control strategies.

Output Artifacts

• MPC formulation code
• CasADi symbolic models
• ACADO generated code
• QP/NLP solver configurations
• Cost function tuning parameters
• Constraint specifications