Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
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Updated
May 13, 2024 - C++
Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
A next-gen solver for nonlinearly constrained nonconvex optimization. Modular and lightweight, it unifies iterative methods (SQP vs interior points) and globalization techniques (filter method vs merit function, line search vs trust region method) in a single framework. Competitive against IPOPT, filterSQP, SNOPT, MINOS and CONOPT
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