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

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

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

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

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

iterative Linear Quadratic Regulator practice

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

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)

ILQR (Iterative Linear Quadratic Regulator)

Autonomous racing using ILQR and JAX.

Model-based Policy Gradients

Nav2 controller plugin utilizing Frenet Frames and ILQR

Trajectory planning library

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