AgentSkillsCN

MPC Controller Skill

精通模型预测控制的实现与调优

SKILL.md
--- frontmatter
name: MPC Controller Skill
description: Expert skill for Model Predictive Control implementation and tuning
slug: mpc-controller
category: Control
allowed-tools:
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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