The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

Implementation of the real-time MPC based on iLQR in Carla simulator

iterative Linear Quadratic Regulator with constraints.

Dynamics, MPC, LQR, etc. One repo to rule them all.

Iterative LQG for a couple of MuJoCo models

A toolbox for trajectory optimization of dynamical systems

A Julia package for constrained iterative LQR (iLQR)

Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control

Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.

iterative Linear Quadratic Regulator practice

Autonomous racing using ILQR and JAX.

Model-based Policy Gradients

ILQR (Iterative Linear Quadratic Regulator)

SIA - C++/Python library for model-based stochastic estimation and optimal control

Trajectory planning library

An implementation of model-predictive control algorithms using TensorFlow 2

WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch

iLQR for a 3D quadrotor model