Riccati-LQR

A C++ implementation of Linear Quadratic Regulator (LQR) using the square-root Riccati recursion.

Overview

This project implements an efficient LQR solver designed for control applications, with quadrotor systems as an example. For more information, please refer to the tutorial.

Dependencies

• Eigen: Linear algebra library
• CMake

Building

1. Clone the repository:

git clone https://github.com/Luyao787/Riccati-LQR.git
cd Riccati-LQR

2. Build the project:

mkdir build
cd build
cmake ..
cmake --build .

3. Run the example:

./example

References

• G. Frison and J. B. Jørgensen, “Efficient implementation of the Riccati recursion for solving linear-quadratic control problems,” 2013 IEEE International Conference on Control Applications (CCA), Hyderabad, India, 2013, pp. 1117-1122.