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santoshrajkumar / kq-lmpc-quadrotor-updated

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A Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required), demonstrated in MuJoCo Menagerie Skydio X2 drone.

drone robotics flight-controller quadratic-programming convex-optimization mujoco aerial-robotics quadrotors quadrotor-flight-controller casadi menagerie real-time-control koopman-operator active-set-method quadrotor-control skydio linear-mpc koopman-mpc data-free-koopman koopman-model-predictive-control
  • Updated Aug 29, 2026
  • Python

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