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This is the Control Toolbox (CT), an open-source C++ library for efficient modelling, control, estimation, trajectory optimization and model predictive control.
Shortcut to the quickstart tutorial
The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics. It's main focus is
- intuitive modelling of systems governed by ordinary differential- or difference equations.
- trajectory optimization, optimal control and (nonlinear) model predictive control
- a broad choice of Optimal Control solvers: iLQR, GNMS, Direct Multiple Shooting, etc.
- standard solver interfaces
- auto-differentiable rigid-body dynamics
Please find the documentation here
High-level reference can also be found in the following paper:
#!Bibtex
@INPROCEEDINGS{giftthaler2018simpar,
author={M. Giftthaler and M. Neunert and M. Stäuble and J. Buchli},
title={The control toolbox — An open-source C++ library for robotics, optimal and model predictive control},
booktitle={2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
year={2018},
pages={123-129},
doi={10.1109/SIMPAR.2018.8376281},
month={May},}