Robust control of a nonlinear chain using acados Python

This repository contains the code corresponding to the publication

Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets

by

Andrea Zanelli, Jonathan Frey, Florian Messerer, Moritz Diehl

Update 2024:

An efficient and customizable implementation of zoRO in acados is presented in:

Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados J. Frey, Y. Gao, F. Messerer, A. Lahr, M. N Zeilinger, M. Diehl Proceedings of the European Control Conference (ECC) (2024)

https://publications.syscop.de/Frey2024.pdf

References:

https://github.com/dkouzoup/hanging-chain-acado