Introduction

This repository includes my implementations of optimal control algorithms such as LQR and MPC for non-linear systems. These were done as part of coursework in the graduate course: 16745 - Optimal Control and Reinforcement Learning at CMU Robotics Institute (Spring 2023).

Jump to section:

• LQR for a Non-Linear Cartpole System
• MPC for Optimal Rendezvous and Docking of a Spacecraft

LQR for a Non-Linear Cartpole System

Goals:

• Implement Infinite Horizon LQR (IHLQR) to stabilize a non-linear cartpole system about an unstable equilibrium point
  
• Implement Time Varying LQR (TVLQR) to track a given swing-up trajectory for a non-linear cartpole system
  

Implementation: lqr_cartpole

Infinite Horizon LQR (IHLQR)	Time Varying LQR (TVLQR)

MPC for Optimal Rendezvous and Docking of a Spacecraft

Goal: Implement Model Predictive Control (MPC) to optimally rendezvous and dock a spacecraft of given dynamics with the ISS
Implementation: mpc_spacecraft

MPC for Spacecraft Rendezvous and Docking