Optimal Control allows you to formulate control problems (control theory) as mathematical optimization problems. OpenOCL provides a modeling language that helps to implement optimal control problems. It implements direct collocations methods, and interfaces CasADi and ipopt to solve a non-linear program. Alternatively the new (work in progress) interface to acados can be used.
- Automatic differentiation through CasADi
- Multi-stage problems
- Matrix-valued variables
- Access all variables by their name (no indexing required)
- Plotting of initial guess, intermediate steps, and solution
- Dependencies (acados, CasADi) will be resolved automatically on first startup
Jonas Koenemann, https://github.com/jkoendev
Copyright 2019, 2020 Jonas Koenemann, Moritz Diehl, University of Freiburg
Redistribution is permitted under the 3-Clause BSD License terms. Please
ensure the above copyright notice is visible in any derived work
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