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 (2025). iLQG/DDP trajectory optimization (https://www.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
Acknowledgements

Inspired: Belief Space Motion Planning using iLQG

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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