ECE539_FinalProject

Final Project for ECE539: Introduction to Artificial Neural Networks. NMPC-Net: An efficient alternative to Nonlinear Model Predictive Control.

This project includes a Python package NMPC_Net which contains a nonlinear MPC for the kinematic bicycle model. It uses pyomo and IPOPT. The project also includes Jupyter Notebooks that train a neural network to replicate the Nonlinear MPC.

For more details, take a look at the Final Report.

Authors

• Ian Ruh - University of Wisconsin-Madison
• Victor Freire - University of Wisconsin-Madison