ACADO toolkit – an open-source framework for automatic control and dynamic optimization. (English) Zbl 1218.49002
Summary: The software environment and algorithm collection ACADO Toolkit is presented, which implements tools for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control as well as state and parameter estimation. The ACADO Toolkit is implemented as a self-contained C++ code, while the object-oriented design allows for convenient coupling of existing optimization packages and for extending it with user-written optimization routines. We discuss details of the software design of the ACADO Toolkit 1.0 and describe its main software modules. Along with that we highlight a couple of algorithmic features, in particular its functionality to handle symbolic expressions. The user-friendly syntax of the ACADO Toolkit to set up optimization problems is illustrated with two tutorial examples: an optimal control and a parameter estimation problem.
MSC:
| 49-04 | Software, source code, etc. for problems pertaining to calculus of variations and optimal control |
| 49M30 | Other numerical methods in calculus of variations (MSC2010) |
| 49L20 | Dynamic programming in optimal control and differential games |
| 90C39 | Dynamic programming |
Keywords:
dynamic optimization; model predictive control; parameter estimation; optimization softwareReferences:
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