CasADi: a software framework for nonlinear optimization and optimal control

From MaRDI portal
Publication:1741124

DOI10.1007/s12532-018-0139-4zbMath1411.90004OpenAlexW2842089854WikidataQ120122887 ScholiaQ120122887MaRDI QIDQ1741124

Greg Horn, Joel A. E. Andersson, James B. Rawlings, Moritz Diehl, Joris J. M. Gillis

Publication date: 3 May 2019

Published in: Mathematical Programming Computation (Search for Journal in Brave)

Full work available at URL: https://lirias.kuleuven.be/handle/123456789/624550




Related Items

Lyapunov-based damping controller with nonlinear MPC control of payload position for a knuckle boom crane\texttt{acados} -- a modular open-source framework for fast embedded optimal controlAn Algorithm to Construct Subsolutions of Convex Optimal Control ProblemsEnhancement of the moving horizon estimation performance based on an adaptive estimation algorithmAn efficient bounded-variable nonlinear least-squares algorithm for embedded MPCStructure of optimal control for planetary landing with control and state constraintsNewton's method, Bellman recursion and differential dynamic programming for unconstrained nonlinear dynamic gamesOptimal collision-avoiding deceleration when approaching a stochastically vanishing obstacleFlexible multibody system modelling of an aerial rescue ladder using Lagrange’s equationsProbabilistic constraint tightening techniques for trajectory planning with predictive controlRevisiting moment-closure methods with heterogeneous multiscale population modelsSolving multispecies population games in continuous space and timeFuzzy forward dynamics of distinct gait phases with a prosthetic footMultiphase mixed-integer nonlinear optimal control of hybrid electric vehiclesTime-minimal set point transition for nonlinear SISO systems under different constraintsA penalty method for nonlinear programs with set exclusion constraintsA Lyapunov function for the combined system-optimizer dynamics in inexact model predictive controlRevisiting a fixed-point hierarchical control design for cryogenic refrigerators under constraints, nonlinearities and real-time considerationsOptimal Control of Port-Hamiltonian Descriptor Systems with Minimal Energy SupplyDirect and indirect optimal control applied to plant virus propagation with seasonality and delaysModeling and Optimal Control of a Two-Species Bioproducing Microbial ConsortiumALADIN‐—An open‐source MATLAB toolbox for distributed non‐convex optimizationA nonlinear tracking model predictive control scheme for dynamic target signalsMinimum time learning model predictive controlA reduced-order Lie group-based race car model for systematic trajectory optimization on 3D tracksA single particle model with electrolyte and side reactions for degradation of lithium-ion batteriesA warm-started trajectory planner for fixed-wing unmanned aerial vehicle formationPredictive multibody dynamic simulation of human neuromusculoskeletal systems: a reviewContinuous‐time receding‐horizon reinforcement learning and its application to path‐tracking control of autonomous ground vehiclesFrom multi‐physics models to neural network for predictive control synthesisThe time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumpsA symplectic indirect approach for a class of nonlinear optimal control problems of differential‐algebraic systemsIterative learning control with discrete‐time nonlinear nonminimum phase models via stable inversionAn implicit and explicit dual model predictive control formulation for a steel recycling processDynamic soaring in wind turbine wakesZero-order optimization for Gaussian process-based model predictive controlVertical airborne wind energy farms with high power density per ground area based on multi-aircraft systemsRisk bounded nonlinear robot motion planning with integrated perception \& controlA Gauss-Newton-based decomposition algorithm for nonlinear mixed-integer optimal control problemsModel predictive control of non-holonomic systems: beyond differential-drive vehiclesSafe, learning-based MPC for highway driving under Lane-change uncertainty: a distributionally robust approachCopuling population dynamics and diel migration patternsAuto-tuning of reference models in direct data-driven controlA safety-prioritized receding horizon control framework for platoon formation in a mixed traffic environmentDirect multiple shooting and direct collocation perform similarly in biomechanical predictive simulationsA two-stage trajectory prediction algorithm for mobile robots combining the Bayesian and the DMOC frameworksOptimal control by deep learning techniques and its applications on epidemic modelsManaging demand by upgrade programs and markdown pricing with a product rolloverTraining recurrent neural networks by sequential least squares and the alternating direction method of multipliersRobust tube-based NMPC for dynamic systems with discrete degrees of freedomA model predictive control approach to optimally devise a two‐dose vaccination rollout: A case study on COVID‐19 in ItalyAn optimisation based algorithm for finding the nucleation temperature of cosmological phase transitionsControl of the Stefan problem in a periodic boxA non-intrusive approach for physics-constrained learning with application to fuel cell modelingRobust adaptive MPC using control contraction metricsCarNum: parallel numerical framework for computational cardiac electromechanicsOptimal control of bioproduction in the presence of population heterogeneityTracking periodic parametric references using model predictive controlA model‐and data‐driven predictive control approach for tracking of stochastic nonlinear systems using Gaussian processesRobust offset‐free nonlinear model predictive control for systems learned by neural nonlinear autoregressive exogenous modelsControl Lyapunov–Barrier function based model predictive control for stochastic nonlinear affine systemsUnnamed ItemStability properties of multi-stage nonlinear model predictive controlTopology optimization based on deep representation learning (DRL) for compliance and stress-constrained designMulti-period optimization for long-term oilfield production planningUnnamed ItemHybrid Gaussian process modeling applied to economic stochastic model predictive control of batch processesAnalysis of driving styles of a GP2 car via minimum lap-time direct trajectory optimizationModel predictive control with random batch methods for a guiding problemA flow perspective on nonlinear least-squares problemsOn mixed-integer optimal control with constrained total variation of the integer controlPenalty alternating direction methods for mixed-integer optimal control with combinatorial constraintsMixed-integer optimal control under minimum dwell time constraintsPartially distributed outer approximationGeneration of realistic saddle trajectories from captured horseback motionOptimal 3D arm strategies for maximizing twist rotation during somersault of a rigid-body modelExperiments with Tractable Feedback in Robotic Planning Under Uncertainty: Insights over a Wide Range of Noise RegimesCasADiA new optimal homotopy asymptotic method for fractional optimal control problemsA two-layer switching based trajectory prediction methodEnergy optimal attitude control for a solar-powered spacecraftMinimum variance constrained estimatorAn inverse problem for Moore-Gibson-Thompson equation arising in high intensity ultrasoundMultilevel selective harmonic modulation via optimal controlOptimization of vaccination for COVID-19 in the midst of a pandemicPopulation games with instantaneous behavior and the Rosenzweig-MacArthur model\texttt{Tenscalc}: a toolbox to generate fast code to solve nonlinear constrained minimizations and compute Nash equilibriaAn infeasible-start framework for convex quadratic optimization, with application to constraint-reduced interior-point and other methodsLearning-based model predictive current control for synchronous machines: an LSTM approachMaximum-distance race strategies for a fully electric endurance race carRelaxed Multibang Regularization for the Combinatorial Integral ApproximationNonlinear model predictive control with aggregated constraintsImproved crest factor minimization of multisine excitation signals using nonlinear optimizationNMPC in active subspaces: dimensionality reduction with recursive feasibility guaranteesPETSc TSAdjoint: A Discrete Adjoint ODE Solver for First-Order and Second-Order Sensitivity AnalysisOptimal feedback control in first-passage resettingHidden invariant convexity for global and conic-intersection optimality guarantees in discrete-time optimal controlAn electromechanically coupled beam model for dielectric elastomer actuators


Uses Software


Cites Work