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TinyMPC

(★ 1,072)

Model-predictive control for microcontrollers, ICRA 2024 Best Paper Award

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- - cmake-multi-platform.yml
- libtinympc.so
- - quadrotor_100hz_params.hpp
  - quadrotor_20hz_params.hpp
  - quadrotor_50hz_params.hpp
  - rocket_landing_params_20hz.hpp
- - quadrotor_100hz_ref_hover.hpp
  - quadrotor_20hz_ref_hover.hpp
  - quadrotor_20hz_y_axis_line.hpp
- cartpole_example.cpp
- CMakeLists.txt
- codegen_cartpole.cpp
- codegen_random.cpp
- quadrotor_hovering.cpp
- quadrotor_linear_constraints.cpp
- quadrotor_tracking.cpp
- quadrotor_tv_linear_constraints.cpp
- rocket_landing_mpc.cpp
- - Eigen.h
- - admm.cpp
  - admm.hpp
  - CMakeLists.txt
  - codegen.cpp
  - codegen.hpp
  - error.hpp
  - rho_benchmark.cpp
  - rho_benchmark.hpp
  - tiny_api.cpp
  - tiny_api.hpp
  - tiny_api_constants.hpp
  - types.hpp
.gitignore
CMakeLists.txt
LICENSE
README.md

# Installation Guide

1. Get the code

git clone https://github.com/TinyMPC/TinyMPC

Downloads the entire project code from GitHub to your computer.

cd TinyMPC

Moves into the project folder you just downloaded.

2. CMake

Medium Recommended

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

cmake --build .

Type this command into your terminal and run it.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

Pulled directly from this repo's README.

// repository documentation

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# TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers

<p align="center">
<img align="center" src="https://github.com/TinyMPC/TinyMPC.github.io/blob/main/docs/media/tinympc-dark-logo.png" width=50%>
</p>

If you have any questions related to the solver, visit the [GitHub Discussions](https://github.com/orgs/TinyMPC/discussions) page. This guarantees accessibility for everyone.

The documentation is available at [tinympc.org](https://tinympc.org/)

High-level language interfaces with detailed examples and code generation are available in [Python](https://github.com/TinyMPC/tinympc-python), [Julia](https://github.com/TinyMPC/tinympc-julia), and [MATLAB](https://github.com/TinyMPC/tinympc-matlab).

**Excited to hear your TinyMPC success stories, share them with us!**

## Building
For Windows - Enable ```wsl``` before following prompts below

1. On terminal, clone this repo

```bash
git clone https://github.com/TinyMPC/TinyMPC.git
```

2. Navigate to root directory and run

```bash
cd TinyMPC && mkdir build && cd build
```

3. Run CMake configure step

```bash
cmake ..
```

4. Build TinyMPC

```bash
cmake --build .
```

## Examples

* Run the `quadrotor_hovering` example

```bash
./examples/quadrotor_hovering
```

* Run the `codegen_cartpole` example then follow the same building steps inside that directory

```bash
./examples/codegen_cartpole
```

## Citing TinyMPC

If you are using TinyMPC, we encourage you to

* Put a star ⭐ on this repository.
  
* Cite the related papers:
```
@inproceedings{tinympc,
      title={TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers}, 
      author={Khai Nguyen and Sam Schoedel and Anoushka Alavilli and Brian Plancher and Zachary Manchester},
      booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
      year={2024},
}
```
```
@inproceedings{tinympc-adaptive,
      title={Robust and Efficient Embedded Convex Optimization through First-Order Adaptive Caching}, 
      author={Ishaan Mahajan and Brian Plancher},
      booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      year={2025},
}
```
```
@inproceedings{conic-tinympc,
      title={Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC}, 
      author={Ishaan Mahajan and Khai Nguyen and Sam Schoedel and Elakhya Nedumaran and Moises Mata and Brian Plancher and Zachary Manchester},
      booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
      year={2026},
}
```

## Bug reports and support

Please report any issues via the [Github issue tracker](https://github.com/TinyMPC/TinyMPC/issues). All types of issues are welcome including bug reports, documentation typos, feature requests and so on.

## Running on MCUs

Numerical benchmarks against other solvers on MCUs are available [here](https://github.com/RoboticExplorationLab/mcu-solver-benchmarks).

## TinyMPC on the Crazyflie

TinyMPC-integrated firmware on the Crazyflie nano-quadrotor is available [here](https://github.com/RoboticExplorationLab/tinympc-crazyflie-firmware).

## TinyMPC-AL

An earlier version (not optimized) which can deal with nonlinear dynamics (e.g., bicycle models) is available [here](https://github.com/RoboticExplorationLab/TinyMPC-AL).

## Notes