ethz-adrl/control-toolbox
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control observed · 2026-08-28
Health v2 · maintenance only
23/100
- Activity 0
- Release rhythm 8
- Longevity 100
How is this computed?
round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-03. Adoption (stars, forks) is never an input.
- gap_med: n/a
- age_days: 2687
- days_rel: n/a
- days_push: 1393
- n_releases_24m: 0
Adoption not part of the score
1705 stars · 342 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded
The Control Toolbox (CT) is an open-source C++ library for modelling dynamical systems, control, estimation, trajectory optimization and model predictive control, with special tooling for robotics. It provides solvers such as iLQR/iLQG, multiple shooting, and interfaces to IPOPT, SNOPT and HPIPM, plus automatic differentiation and rigid body dynamics via RobCoGen.
Use cases
- solve optimal control problems for robotic systems in C++
- implement model predictive control (MPC) on real robots
- perform trajectory optimization with iLQR or multiple shooting
- model rigid body dynamics and kinematics for manipulators
- design extended Kalman filters and disturbance observers
- generate derivative code for dynamics with automatic differentiation
- run nonlinear MPC in real time on flying, walking or ground robots
When to choose
- you need a high-performance C++ library for optimal control or MPC
- you are working on robotics control with rigid body dynamics models
- you want solver flexibility across IPOPT, SNOPT, HPIPM or custom Riccati solvers
- you need automatic differentiation and code generation for dynamics
When to avoid
- you need actively maintained software with quick bug fixes (scarcely maintained since 2021)
- you want a Python-first control library
- your problem is simple PID/linear control that lighter tools handle
- you need extensive documentation or community support
Facets
library · maturity maintenance
simulation math machine-learning robotics simulation autonomous-vehicles cpp cross-platform optimal-control model-predictive-control trajectory-optimization ilqr ilqg riccati-solver automatic-differentiation rigid-body-dynamics extended-kalman-filter multiple-shooting motion-planning robotics-control optimization algorithms linux macos
1 source
- readme: https://github.com/ethz-adrl/control-toolbox · fetched 2026-08-28 · 4093fce1ab4b
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| ethz-adrl/control-toolbox | main | 23 |
For agents
markdown · JSON · MCP: product_card(name="ethz-adrl/control-toolbox")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem