CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

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

References on Optimal Control, Reinforcement Learning and Motion Planning

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

Code for our nips19 paper: You Only Propagate Once: Accelerating Adversarial Training Via Maximal Principle

Open Optimal Control Library for Matlab. Trajectory Optimization and non-linear Model Predictive Control (MPC) toolbox.

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Iterative Linear Quadratic Regulator with auto-differentiatiable dynamics models

High-performance interior-point-method QP solvers

Implementation of SCvx, linear MPC and LQR for trajectory generation and tracking

A library for using direct collocation in the optimization of dynamic systems.

Open Source Optimization of Dynamic Multidisciplinary Systems

A package for solving Differential Dynamic Programming and trajectory optimization problems.

Solve optimal control problems for musculoskeletal models using OpenSim and direct collocation.

List of literature and software for optimal control and numerical optimization.

An implementation of iLQR for trajectory synthesis and control

An open-source platform for applying Reinforcement Learning for Grid Control (RLGC)

Iterative LQG for a couple of MuJoCo models

Python implementation of Krotov's method for quantum optimal control

A toolbox for trajectory optimization of dynamical systems

Tutorials on Control Theory

Deep Neural Network architecture as a predictive optimal controller for {HVAC+Solar cell + battery} disturbance afflicted system compared to classic Model Predictive Control

Lossless convexification new results (mixed-integer problems)

A compact Unconstrained (linear) Model Predictive Control (MPC) library for Teensy4/Arduino system (or any real time embedded system in general)

A compact Constrained Model Predictive Control (MPC) library with Active Set based Quadratic Programming (QP) solver for Teensy4/Arduino system (or any real time embedded system in general)

Using advanced control techniques in an easy way for embedded - No theory, only practice

Code release of EnergyBoost: Learning-based Control of Home Batteries

Underactuated double-pendulum (acrobot) on a cart to play with direct optimal control methods

Modeling framework for risk-constrained risk-averse optimal control problems (MATLAB toolbox)