OpenOCL - Open Optimal Control Library

Version 7.07 (220 KB) by Jonas
Optimal Control toolbox for Matlab. Software for trajectory optimization and Model-predictive control (MPC).
5.0
(6)
1.2K Downloads
Updated 24 May 2020
View License on GitHub

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.

Features:
- 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

Main developer:
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

https://openocl.github.io/
https://github.com/jkoendev
https://github.com/OpenOCL/OpenOCL

MATLAB Release Compatibility
Created with R2016a
Compatible with R2014b and later releases
Platform Compatibility
Windows macOS Linux

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+ocl/+examples/+cartpole

+ocl/+examples/+mass_spring

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doc

Versions that use the GitHub default branch cannot be downloaded

Version Published Release Notes
7.07

Webpage
7.06

update descriptions
7.05

- initialize function
- fix for Matlab < 2016a
7.02

release 7.02
6.01

acados interface
API updates
5.11

feature automatic differentiation
5.10

reformulation of description
5.09

introduction description
5.08

typo
5.07

- allow use of custom CasADi installation
- resolved warning
- added description
5.05

- multi-stage problems (bouncing ball)
- GettingStarted.mlx
- Package documenation (doc ocl)
- Increased compatibility (R2014+)
4.33

Connected to github
4.32

Fixing issues with adding from Matlab Add-on manager
4.29

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.