Implementation of the geometric version of Differential Dynamic Programming (DDP) for trajectory optimization. Application on a simple mechanical system on TSO(3).
The scripts were tested on MATLAB R2016a. The Robotics System Toolbox is used to convert rotation matrices to unit quaternions (for plotting purposes only).
main_ddpLie.m runs the main algorithm for different orders of dynamics approximations.test_noise.m tests the obtained solution on noisy dynamics.George I. Boutselis and Evangelos Theodorou, "Discrete-time Differential Dynamic Programming on Lie Groups: Derivation, Convergence Analysis and Numerical Results", Transactions on Automatic Control (TAC).
MIT License