Problem Formulation

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 on HPIPM for reformulating QP problems via (partial) condensing and expansion routines. We thus use the flexible QP formulations from HPIPM for optimal control structured quadratic programming formulation (OCP-QP) and the dense QP formulation. Both problem formulations are documented in the HPIPM guide.