Individual skill
MPC Controller Skill
Expert skill for Model Predictive Control implementation and tuning
library/specializations/robotics-simulation/skills/mpc-controller/SKILL.md
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- Last checked
- Nov 9, 2026
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- License
- MIT
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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)