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

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

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

asset-asrl

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

fsrs4anki-optimizer

A modern Anki custom scheduling based on Free Spaced Repetition Scheduler algorithm

mpopt

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

pyoptas

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

krotov

Python implementation of Krotov's method for quantum optimal control

maptor

Multiphase Adaptive Trajectory Optimizer

building-energy-storage-simulation

A simulation of a building to optimize energy storage utilization.

lqrax

GPU-friendly, auto-differentiable LQR solver with JAX.

ltv-mpc

Linear time-variant model predictive control in Python.

qpmpc

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.

pympcxx

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

opty

A library for using direct collocation in the optimization of dynamic systems.

pyro-udes

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

hionx

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

pythonlinearnonlinearcontrol

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

feedbax

Optimal feedback control + interventions, in JAX.