Decentralized Tube-Based Model Predictive Controller.

Table of Contents

• Introduction
• Installation
• Usage
• Contributing
• License

Introduction

This is the implementation of the Master thesis titled : Tube-Based NMPC for non-holonomic multi-agent system in unknown enviorments.

Article

The NMPC approach has been validated through experiments demonstrating effective trajectory tracking and low orientation errors (Hassan, 2024). For more information, you can access the full master thesis here.

References Hassan, Hamza Abdinassir. Tube-Based NMPC for Non-Holonomic Multi-Agent Systems in Unknown Environments: Prelude to Modern Control. Aalborg Universitet, 2024.

Installation

git clone https://github.com/Hamza-Robotics/dtmpc

• Install acados. Here there is instruction on how to install Acados.

Remember to source ROS2 in your workspace.

source /opt/ros/humble/setup.bash

sudo apt install python3-pip
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

source setup_acados.sh 
colcon build && source install/setup.bash
ros2 launch simulation_numerical numerical_simulation_launch.py 

colcon build && source install/setup.bash && 
source setup_acados.sh  && ros2 run mpc mpc_controller_robot1.py

colcon build && source install/setup.bash && 
source setup_acados.sh  && ros2 run mpc mpc_controller_robot2.py

colcon build && source install/setup.bash && 
source setup_acados.sh  && ros2 run mpc mpc_controller_robot2.py

Contributing