mpc-controller-skill

# MPC Controller Skill ## Overview Expert skill for designing, implementing, and tuning Model Predictive Controllers for robotic systems, including both linear and nonlinear MPC. ## Capabilities - Derive kinematic and dynamic robot models - Formulate MPC optimization problems (QP, NLP) - Configure CasADi for symbolic differentiation - Set up ACADO code generation for real-time MPC - Implement constraint handling (velocity, acceleration, collision) - Configure cost function weights (tracking, control effort) - Implement warm starting for fast convergence - Set up NMPC for nonlinear systems - Configure terminal constraints and costs - Optimize solver parameters for real-time execution ## Target Processes - mpc-controller-design.js - trajectory-optimization.js - dynamic-obstacle-avoidance.js - path-planning-algorithm.js ## Dependencies - CasADi - ACADO Toolkit - OSQP - qpOASES - Ipopt ## Usage Context This skill is invoked when processes require advanced model-based control, trajectory tracking with constraints, or real-time optimization-based control strategies. ## Output Artifacts - MPC formulation code - CasADi symbolic models - ACADO generated code - QP/NLP solver configurations - Cost function tuning parameters - Constraint specifications