OpenOCL - Open Optimal Control Library
Optimal Control toolbox for Matlab. Software for trajectory optimization and Model-predictive control (MPC).
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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
Acknowledgements
Inspired: Analytical Analysis of an OCP with System of ODEs in MATLAB
General Information
- Version 7.07 (220 KB)
-
View License on GitHub
MATLAB Release Compatibility
- Compatible with R2014b and later releases
Platform Compatibility
- Windows
- macOS
- Linux
Versions that use the GitHub default branch cannot be downloaded
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 7.07 | Webpage |
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| 7.06 | update descriptions |
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| 7.05 | - initialize function
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| 7.02 | release 7.02 |
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| 6.01 | acados interface
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| 5.11 | feature automatic differentiation |
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| 5.10 | reformulation of description |
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| 5.09 | introduction description |
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| 5.08 | typo |
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| 5.07 | - allow use of custom CasADi installation
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| 5.05 | - multi-stage problems (bouncing ball)
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| 4.33 | Connected to github |
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| 4.32 | Fixing issues with adding from Matlab Add-on manager |
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| 4.29 |
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