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The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
| Date | Stars |
|---|---|
| 2026-07-24 | 1696 |
| 2026-07-25 | 1696 |
| 2026-07-28 | 1696 |
| 2026-07-30 | 1696 |
| 2026-08-06 | 1696 |
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# Control Toolbox
```diff
- Important note (July 2021): this library is currently only scarcely maintained,
- it may take a while until we respond to bugs or feature requests.
```
This is the Control Toolbox, an efficient C++ library for control, estimation, optimization and motion planning in robotics.
Link to the wiki, [quickstart!](https://github.com/ethz-adrl/control-toolbox/wiki/Quickstart) \
Find the detailed documentation [here](https://ethz-adrl.github.io/ct/).
## Overview
This is the ADRL Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control,
estimation, trajectory optimization and model predictive control. The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics. This page outlines its general concept, its major building blocks and highlights selected application examples.
The library contains several tools to design and evaluate controllers, model dynamical systems and solve optimal control problems.
The CT was designed with the following features in mind:
- **Systems and dynamics**:
- intuitive modelling of systems governed by ordinary differential or difference equations.
- **Trajectory optimization, optimal control and (nonlinear) model predictive control**:
- intuitive modelling of cost functions and constraints
- common interfaces for optimal control solvers and nonlinear model predictive control
- currently supported algorithms:
- Classical Single Shooting
- iLQR / iLQG (iterative Linear Quadratic Optimal Control)
- Multiple-shooting iLQR
- Gauss-Newton-Multiple-Shooting (GNMS)
- Classical Direct Multiple Shooting (DMS)
- standardized interfaces for the solvers
- IPOPT (first and second order)
- SNOPT
- HPIPM
- custom Riccati-solver
- **Performance**:
- solve large scale optimal control problems in MPC fashion.
- **Robot Modelling, Rigid Body Kinematics and Dynamics**:
- straight-forward interface to the state-of the art rigid body dynamics modelling tool [RobCoGen][robcogen-url].
- implementation of a basic nonlinear-programming inverse kinematics solver for fix-base robots.
- **Automatic Differentiation**:
- first and second order automatic differentiation of arbitrary vector-valued functions including cost functions and constraints
- automatic differentiation and code generation of rigid body dynamics
- derivative code generation for maximum efficiency
## Robot Application Examples
The Control Toolbox has been used for Hardware and Simulation control tasks on flying, walking and ground robots.
<a href="http://www.youtube.com/watch?feature=player_embedded&v=Y7-1CBqs4x4" target="_blank"><img src="http://img.youtube.com/vi/Y7-1CBqs4x4/0.jpg"
alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
<a href="http://www.youtube.com/watch?feature=player_embedded&v=vuCSKtP67E4" target="_blank"><img src="http://img.youtube.com/vi/vuCSKtP67E4/0.jpg"
alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
<a href="http://www.youtube.com/watch?feature=player_embedded&v=rWmw-ERGyz4" target="_blank"><img src="http://img.youtube.com/vi/rWmw-ERGyz4/0.jpg"
alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
<a href="http://www.youtube.com/watch?feature=player_embedded&v=rVu1L_tPCoM" target="_blank"><img src="http://img.youtube.com/vi/rVu1L_tPCoM/0.jpg"
alt="Control Toolbox example video" width="360" height="270" border="10" /></a>
Slightly more complex optimization examples, including gait optimization for a quadruped, are availabe in [ct_ros](https://github.com/ethz-adrl/ct_ros).
## What is the CT?
A common tasks for reseaExcerpt of 19,597 characters
Read on GitHub
1.2k
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Hamza Merzić
57
Ruben Grandia
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Akash Patel · @ACDSLab, @gtri, @draperlaboratory
20
10
8
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Eric Heiden · University of Southern California · United States
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Romain Reignier · Robopec @ixblue · France
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:1749c1f88ca91d13, topic:robotics, desc:robotics, readme:robotics