Optimal Control Python Packages

casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

dymos

Open Source Optimization of Dynamic Multidisciplinary Systems

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

libcrocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

casadi-gil-comp

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

opengen

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

asset-asrl

High-speed, extensible, object-oriented trajectory design and optimization

fsrs4anki-optimizer

No description available

pyoptas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.

mpopt

A pseudo-spectral collocation based multi-phase Optimal control problem solver

building-energy-storage-simulation

A simulation of a building to optimize energy storage utilization.

krotov

Python implementation of Krotov's method for quantum optimal control

lqrax

JAX-enabled continuous-time Riccati equation solver

maptor

MAPTOR: Multiphase Adaptive Trajectory Optimizer

ltv-mpc

Model predictive control in Python based on quadratic programming

invariants-py

Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.

opty

Tool for optimizing dynamic systems using direct collocation.

qpmpc

Model predictive control in Python based on quadratic programming

pympcxx

libmpc++ is a C++ header-only library to solve linear and non-linear MPC

pyro-udes

object-based toolbox for robot dynamic simulation, analysis, control and planning

pythonlinearnonlinearcontrol

PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

hionx

Hion (/ˈiː.ɒn/): Hamiltonian-Informed Optimal Neural Control.

feedbax

Optimal feedback control + interventions, in JAX.