acados#
Fast and embedded solvers for nonlinear optimal control.
acados
source code is hosted on Github. Contributions via pull requests are welcome!acados
has a discourse based forum.acados
is mainly developed by the syscop group around Prof. Moritz Diehl, the Systems Control and Optimization Laboratory, at the University of Freiburg.
About acados
#
acados
is a software package providing fast and embedded solvers for nonlinear optimal control.
Problems can be conveniently formulated using the CasADi
symbolic framework and the high-level acados
interfaces.
acados
provides a collection of computationally efficient building blocks tailored to optimal control structured problems, most prominently optimal control problems (OCP) and moving horizon estimation (MHE) problems.
Among others, acados
implements:
modules for the integration of ordinary differential equations (ODE) and differential-algebraic equations (DAE),
interfaces to state-of-the-art QP solvers like
HPIPM
,qpOASES
,DAQP
andOSQP
(partial) condensing routines, provided by
HPIPM
nonlinear programming solvers for optimal control structured problems
real-time algorithms, such as the real-time iteration (RTI) and advanced-step real-time iteration (AS-RTI) algorithms
The back-end of acados uses the high-performance linear algebra package BLASFEO
, in order to boost computational efficiency for small to medium scale matrices typical of embedded optimization applications.
MATLAB
, Octave
and Python
interfaces can be used to conveniently describe optimal control problems and generate self-contained C code that can be readily deployed on embedded platforms.
Problem Formulation#
Since acados
mainly aims on providing SQP type methods for optimal control, it naturally needs optimal control structured nonlinear programming formulations (OCP-NLP) and quadratic programming (QP) formulations to tackle the subproblems within SQP.
Optimal control structured NLP (OCP-NLP): The problem formulation targeted by
acados
OCP solver is stated here.QP formulations (dense and OCP structured):
acados
relies onHPIPM
for reformulating QP problems via (partial) condensing and expansion routines. We thus use the flexible QP formulations fromHPIPM
for optimal control structured quadratic programming formulation (OCP-QP) and the dense QP formulation. Both problem formulations are documented in theHPIPM guide
.
Documentation page overview#
Documentation latest build: Nov 18, 2024