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 group around Prof. Moritz Diehl, the Systems Control and Optimization Laboratory (syscop), at the University of Freiburg. More infos on the syscop web page.

Documentation latest build: Feb 06, 2023

Contents

• About acados
  • Further Reading
• Problem Formulation
  • Optimal control structured NLP (OCP NLP)
  • QP formulations (dense and OCP structured)
• Algorithm overview
  • Regularization
• Installation
  • Linux/Mac
  • Windows 10+ (WSL)
  • Windows (for use with Matlab)
• Interfaces Overview
• Python Interface
  • Optimal Control Problem description
  • Installation
  • Overview
  • acados OCP solver interface – AcadosOcp and AcadosOcpSolver
  • acados integrator interface – AcadosSim and AcadosSimSolver
  • Builders
• Matlab + Simulink and Octave Interface
  • Getting started
  • Interface structure
  • Options documentation
  • Simulink
  • Setup CasADi
• C Interface
  • docstring based documentation
  • Indices and tables
• Examples
  • Matlab and Octave
  • Python
  • C
• FAQ
  • What is the difference between acados and ACADO?
  • What is the difference between acados and CasADi?
• Embedded Workflow
  • dSPACE
• Other Projects that feature acados
  • Software interfaced with acados
  • Papers featuring acados
• Developer Guide
  • Contributions
  • Memory management in acados
  • Dense QP solution: Populating dense_qp_out
• Citing
  • Latest publication in Mathematical Programming Computation
  • First acados publication in Proceedings of the IFAC Conference