acados—a modular open-source framework for fast embedded optimal control
نویسندگان
چکیده
This paper presents the acados software package, a collection of solvers for fast embedded optimization intended applications. Its interfaces to higher-level languages make it useful quickly designing an optimization-based control algorithm by putting together different algorithmic components that can be readily connected and interchanged. Since core is written on top high-performance linear algebra library, we do not sacrifice computational performance. Thus, aim provide both flexibility performance through modularity, without need rely automatic code generation, which facilitates maintainability extensibility. The main features are: efficient optimal algorithms targeting devices implemented in C, based BLASFEO Frison (ACM Transactions Mathematical Software (TOMS) 44: 1–30, 2018) user-friendly Matlab Python, compatibility with modeling language CasADi Andersson (Mathematical Programming Computation 11: 136, 2019). free open-source released under permissive BSD 2-Clause license.
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ژورنال
عنوان ژورنال: Mathematical Programming Computation
سال: 2021
ISSN: ['1867-2957', '1867-2949']
DOI: https://doi.org/10.1007/s12532-021-00208-8