iLQG/DDP trajectory optimization

Version 1.2.0.0 (13.8 KB) by Yuval
Solve the deterministic finite-horizon optimal control problem with iLQG/DDP
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Updated 14 Oct 2015

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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

Cite As

Yuval (2026). iLQG/DDP trajectory optimization (https://uk.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2011a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Acknowledgements

Inspired: Belief Space Motion Planning using iLQG

Version Published Release Notes
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