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.

GPU-friendly, auto-differentiable LQR solver with JAX.

iterative Linear Quadratic Regulator practice

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

Iterative LQG for a couple of MuJoCo models

A toolbox for trajectory optimization of dynamical systems

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.

A Julia package for constrained iterative LQR (iLQR)

Autonomous racing using ILQR and JAX.

ILQR (Iterative Linear Quadratic Regulator)

Model-based Policy Gradients

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

Trajectory planning library

Nav2 controller plugin utilizing Frenet Frames and ILQR

An implementation of model-predictive control algorithms using TensorFlow 2