ellipsoidal-anmpc

Robust adaptive nonlinear MPC using ellipsoidal tubes.

Simulation code for the paper "Robust adaptive NMPC using ellipsoidal tubes" by Johannes Buerger and Mark Cannon

Implemented in MATLAB with Yalmip, MOSEK and Gurobi

Name		Name	Last commit message	Last commit date
README.md		README.md
check_Nhat_optimizer.m		check_Nhat_optimizer.m
compute_Nhat_sigmahat.m		compute_Nhat_sigmahat.m
compute_forward_sim.m		compute_forward_sim.m
compute_init_traj.m		compute_init_traj.m
compute_linearization_and_bounds.m		compute_linearization_and_bounds.m
compute_set_estimate.m		compute_set_estimate.m
compute_terminal_set.m		compute_terminal_set.m
disp_ellipsoidal_anmpc_script.m		disp_ellipsoidal_anmpc_script.m
dnonlin_dyn.m		dnonlin_dyn.m
enumerate_verts.m		enumerate_verts.m
enumerate_verts_rect.m		enumerate_verts_rect.m
enumerate_verts_simp.m		enumerate_verts_simp.m
linprog_gurobi.m		linprog_gurobi.m
main_ellipsoidal_anmpc_script.m		main_ellipsoidal_anmpc_script.m
max_zN_norm_optimizer.m		max_zN_norm_optimizer.m
mpc_opt_optimizer.m		mpc_opt_optimizer.m
mpc_opt_rect_optimizer.m		mpc_opt_rect_optimizer.m
mpc_opt_rect_uncompiled.m		mpc_opt_rect_uncompiled.m
mpc_opt_rect_uncompiled_szs.m		mpc_opt_rect_uncompiled_szs.m
mpc_opt_simp_optimizer.m		mpc_opt_simp_optimizer.m
mpc_opt_simp_uncompiled.m		mpc_opt_simp_uncompiled.m
mpc_opt_simp_uncompiled_szs.m		mpc_opt_simp_uncompiled_szs.m
mpc_opt_uncompiled.m		mpc_opt_uncompiled.m
mpc_opt_uncompiled_szs.m		mpc_opt_uncompiled_szs.m
nonlin_dyn.m		nonlin_dyn.m

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