Classical Direct Multiple Shooting (DMS).
Trajectory optimization, optimal control and (nonlinear) model predictive control: The CT was designed with the following features in mind: The library contains several tools to design and evaluate controllers, model dynamical systems and solve optimal control problems. This page outlines its general concept, its major building blocks and highlights selected application examples. The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics. This is the ADRL Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control,Įstimation, trajectory optimization and model predictive control. This is the Control Toolbox, an efficient C++ library for control, estimation, optimization and motion planning in robotics.įind the detailed documentation here. Important note (July 2021): this library is currently only scarcely maintained, - it may take a while until we respond to bugs or feature requests.
