iLQG/DDP trajectory optimization

版本 1.2.0.0 (13.8 KB) 作者: Yuval
Solve the deterministic finite-horizon optimal control problem with iLQG/DDP
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更新 2015/10/14

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Solve the deterministic finite-horizon optimal control problem with the iLQG (iterative Linear Quadratic Gaussian) or modified DDP (Differential Dynamic Programming) algorithm. Includes two demos, a linear control-constrained problem and a car-parking problem. For details see
Tassa, Mansard and Todorov, 'Control-Limited Differential Dynamic Programming', ICRA 2014

引用格式

Yuval (2026). iLQG/DDP trajectory optimization (https://ww2.mathworks.cn/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization), MATLAB Central File Exchange. 检索时间: .

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1.2.0.0

Better printing and diagnostics, added example of user callback.
1.1.0.0

Fixed bug in calculation of reduction ratio.
1.0.0.0

minor tweaks