CasADi: a software framework for nonlinear optimization and optimal control
- Joel A. E. Andersson, Joris Gillis, Greg Horn, J. Rawlings, M. Diehl
- Computer ScienceMathematical Programming Computation
- 11 July 2018
This article gives an up-to-date and accessible introduction to the CasADi framework, which has undergone numerous design improvements over the last 7 years.
ACADO toolkit—An open‐source framework for automatic control and dynamic optimization
- B. Houska, H. J. Ferreau, M. Diehl
- Computer Science
- 1 May 2011
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.
Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
- D. Verscheure, B. Demeulenaere, J. Swevers, J. Schutter, M. Diehl
- Computer ScienceIEEE Transactions on Automatic Control
- 22 September 2009
A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available.
A Lyapunov Function for Economic Optimizing Model Predictive Control
- M. Diehl, R. Amrit, J. Rawlings
- MathematicsIEEE Transactions on Automatic Control
- 1 March 2011
For a class of nonlinear systems and economic stage costs, this technical note constructs a suitable Lyapunov function, and the optimal steady-state solution of the economic stage cost is an asymptotically stable Solution of the closed-loop system under economic MPC.
qpOASES: a parametric active-set algorithm for quadratic programming
- H. J. Ferreau, C. Kirches, A. Potschka, H. Bock, M. Diehl
- Computer ScienceMathematical Programming Computation
- 30 April 2014
The open-source C++ software package qpOASES is described, which implements a parametric active-set method in a reliable and efficient way and can be used to compute critical points of nonconvex QP problems.
Online Walking Motion Generation with Automatic Footstep Placement
- A. Herdt, H. Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, K. Mombaur, M. Diehl
- EngineeringAdv. Robotics
- 1 January 2010
The capacity of model predictive control to generate stable walking motions without the use of predefined footsteps is demonstrated and an online walking motion generator that can track a given reference speed of the robot and decide automatically the footstep placement is proposed.
Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
- M. Diehl, H. Bock, H. Diedam, Pierre-Brice Wieber
- Computer Science
- 2005
In this overview paper, we first survey numerical approaches to solve nonlinear optimal control problems, and second, we present our most recent algorithmic developments for real-time optimization in…
Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation
- M. Diehl, H. J. Ferreau, Niels Haverbeke
- Mathematics
- 2009
This overview paper reviews numerical methods for solution of optimal control problems in real-time, as they arise in nonlinear model predictive control (NMPC) as well as in moving horizon estimation…
A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
- M. Diehl, H. Bock, J. Schlöder
- Computer ScienceSIAM Journal of Control and Optimization
- 1 May 2005
The robustness and excellent real-time performance of the method is demonstrated in a numerical experiment, the control of an unstable system, namely, an airborne kite that shall fly loops.
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