# MPC Controller Skill

> Expert skill for Model Predictive Control implementation and tuning

- Skill: `majiayu000/mpc-controller-skill` (Agent Skill, multi-file: 2 files)
- Install (CLI): `npx skillmds add majiayu000/mpc-controller-skill`
- Raw SKILL.md: https://api.skillmd.com/api/skills/majiayu000/mpc-controller-skill/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: AI & ML
- Author: majiayu000 (https://skillmd.com/u/majiayu000)
- Updated: 2026-09-09
- Page: https://skillmd.com/skills/majiayu000/mpc-controller-skill

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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