OpenOCL - Open Optimal Control Library

Version 7.07 (220 KB) by Jonas
Optimal Control toolbox for Matlab. Software for trajectory optimization and Model-predictive control (MPC).
1.2K Downloads
Updated 24 May 2020

Optimal Control allows you to formulate control problems (control theory) as mathematical optimization problems. OpenOCL provides a modeling language that helps to implement optimal control problems. It implements direct collocations methods, and interfaces CasADi and ipopt to solve a non-linear program. Alternatively the new (work in progress) interface to acados can be used.

Features:
- Automatic differentiation through CasADi
- Multi-stage problems
- Matrix-valued variables
- Access all variables by their name (no indexing required)
- Plotting of initial guess, intermediate steps, and solution
- Dependencies (acados, CasADi) will be resolved automatically on first startup

Main developer:
Jonas Koenemann, https://github.com/jkoendev

Copyright 2019, 2020 Jonas Koenemann, Moritz Diehl, University of Freiburg
Redistribution is permitted under the 3-Clause BSD License terms. Please
ensure the above copyright notice is visible in any derived work

https://openocl.github.io/
https://github.com/jkoendev
https://github.com/OpenOCL/OpenOCL

MATLAB Release Compatibility
Created with R2016a
Compatible with R2014b and later releases
Platform Compatibility
Windows macOS Linux

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+ocl/+acados

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+ocl/+collocation

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+ocl/+examples/+cartpole

+ocl/+examples/+mass_spring

+ocl/+examples/+pendulum

+ocl/+model

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Version Published Release Notes
7.07

Webpage

7.06

update descriptions

7.05

- initialize function
- fix for Matlab < 2016a

7.02

release 7.02

6.01

acados interface
API updates

5.11

feature automatic differentiation

5.10

reformulation of description

5.09

introduction description

5.08

typo

5.07

- allow use of custom CasADi installation
- resolved warning
- added description

5.05

- multi-stage problems (bouncing ball)
- GettingStarted.mlx
- Package documenation (doc ocl)
- Increased compatibility (R2014+)

4.33

Connected to github

4.32

Fixing issues with adding from Matlab Add-on manager

4.29

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.