iLQG/DDP trajectory optimization
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
Zitieren als
Yuval (2024). iLQG/DDP trajectory optimization (https://www.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization), MATLAB Central File Exchange. Abgerufen .
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- Control Systems > Control System Toolbox > Control System Design and Tuning > State-Space Control Design and Estimation >
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Inspiriert: Belief Space Motion Planning using iLQG
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Version | Veröffentlicht | Versionshinweise | |
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1.2.0.0 | Better printing and diagnostics, added example of user callback. |
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1.1.0.0 | Fixed bug in calculation of reduction ratio. |
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1.0.0.0 | minor tweaks |