https://plancherb1.github.io/tags/mpc/ Recent content in MPC on Brian Plancher Hugo -- gohugo.io en-us &copy; {year} Brian Plancher Tue, 23 Jun 2026 00:00:00 +0000 https://plancherb1.github.io/publication/turbompc/ Tue, 23 Jun 2026 00:00:00 +0000 https://plancherb1.github.io/publication/turbompc/ We present TurboMPC, a differentiable MPC solver that runs entirely on the GPU and supports state and control inequality constraints, implicit integrators, cross-time-coupled costs, and slack variables. TurboMPC combines sequential quadratic programming (SQP), an alternating direction method of multipliers (ADMM) inner solver, implicit differentiation, and a co-designed JAX-CUDA implementation for efficiency and ease of use. In simulation, we achieve up to 15x and 58x speedups over state-of-the-art CPU and GPU differentiable solvers, respectively. We deploy TurboMPC on a full-scale car for minimum-time racing and scale to planning horizons of over 8000 knot points while maintaining control of the vehicle. We open-source TurboMPC at <a href="https://github.com/ToyotaResearchInstitute/turbompc">https://github.com/ToyotaResearchInstitute/turbompc</a>