Lecture 21 - Model Predictive ControlΒΆ


This lecture is goes over model predictive control (MPC). MPC is a model that predicts future state. The linear version of MPC uses a linearized bicycle model to model the F1TENTH vehicle. The nonlinear version is more complex and takes into account more variables and parameters.

Topics Covered:
  • Linear MPC

  • Non-linear MPC


Links to additional resources: