ilqr 开源项目推荐（53 个）

ethz-adrl /control-toolbox

The Control Toolbox——面向机器人、最优控制和模型预测控制的开源 C++ 库。

Shunichi09 /PythonLinearNonlinearControl

PythonLinearNonLinearControl 是一个在 Python 中实现线性和非线性控制理论的库。

anassinator /ilqr

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

zhaohaojie1998 /Control-Algorithm

控制算法，状态、输出反馈控制。ADRC自抗扰控制，抗积分饱和PID控制，增量式PID控制，模糊FuzzyPID控制，线性二次型调节器LQR控制，线性二次型积分器LQI控制，迭代iLQR控制，模型预测MPC控制，AI智能控制，启发算法控制，强化学习SAC、PPO控制，无人机、机器人、小车轨迹跟踪控制

YukunXia /Carla_iLQR_MPC

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

Bharath2 /iLQR

iterative Linear Quadratic Regulator with support for constraints on input and state variables via barrier functions—Numba-accelerated.

MaxMSun /lqrax

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

PuYuuu /toy-example-of-iLQR

iterative Linear Quadratic Regulator practice

guzhaoyuan /Dynamics-and-Control

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

astomodynamics /cddp-cpp

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

mahanfathi /iLQG-MuJoCo

Iterative LQG for a couple of MuJoCo models

hanyas /trajopt

A toolbox for trajectory optimization of dynamical systems

plancherb1 /parallel-DDP

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.

thowell /IterativeLQR.jl

A Julia package for constrained iterative LQR (iLQR)

HalukErdogan /ilqr

ILQR (Iterative Linear Quadratic Regulator)

SafeRoboticsLab /iLQR_jax_racing

Autonomous racing using ILQR and JAX.

CihatAltiparmak /frenet_ilqr_controller

Nav2 controller plugin utilizing Frenet Frames and ILQR

mahanfathi /Model-Based-RL

Model-based Policy Gradients

uulm-mrm /tpl

Trajectory planning library

parkerowan /libsia

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