ACADO toolkit-An open-source framework for automatic control and dynamic optimization

作者：Houska Boris^*; Ferreau Hans Joachim; Diehl Moritz

来源：Optimal Control Applications and Methods, 2011, 32(3): 298-312.

DOI：10.1002/oca.939

• dynamic optimization
• model predictive control
• parameter estimation
• optimization software

In this paper 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.

• 出版日期2011-6