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koopman-model-predictive-control

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santoshrajkumar / kq-lmpc-quadrotor

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A complete, hardware-ready Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required)

drone robotics px4 mpc dynamical-systems quadrotor convex-optimization se3 model-predictive-control real-time-control koopman-operator px4-ros2-gazebo linear-mpc koopman-mpc data-free-koopman koopman-quadrotor python-mpc-acados koopman-model-predictive-control koopman-lmpc quadrotor-hardware-python
  • Updated Aug 29, 2026
  • Python

santoshrajkumar / kq-lmpc-quadrotor-updated

Star 4

A Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required), demonstrated in MuJoCo Menagerie Skydio X2 drone.

drone robotics flight-controller quadratic-programming convex-optimization mujoco aerial-robotics quadrotors quadrotor-flight-controller casadi menagerie real-time-control koopman-operator active-set-method quadrotor-control skydio linear-mpc koopman-mpc data-free-koopman koopman-model-predictive-control
  • Updated Aug 29, 2026
  • Python

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