The control toolbox — An open-source C++ library for robotics, optimal and model predictive control

@article{Giftthaler2018TheCT,
  title={The control toolbox — An open-source C++ library for robotics, optimal and model predictive control},
  author={Markus Giftthaler and Michael Neunert and M. St{\"a}uble and J. Buchli},
  journal={2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
  year={2018},
  pages={123-129}
}
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. [...] Key Method The CT was designed for intuitive modeling of systems governed by ordinary differential or difference equations. It supports rapid prototyping of cost functions and constraints and provides standard interfaces for different optimal control solvers. To date, we support Single Shooting, the iterative Linear-Quadratic Regulator, Gauss…Expand
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