iLQG/DDP trajectory optimization

Solve the deterministic finite-horizon optimal control problem with iLQG/DDP

Version 1.2.0.0 (13.8 KB)
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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://in.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization), MATLAB Central File Exchange. Retrieved .

Acknowledgements

Inspired: Belief Space Motion Planning using iLQG

Categories

Find more on State-Space Control Design and Estimation in Help Center and MATLAB Answers

General Information

MATLAB Release Compatibility

  • Compatible with any release

Platform Compatibility

  • Windows
  • macOS
  • Linux
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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