CasADi -- A symbolic package for automatic differentiation and optimal control
Författare
Summary, in English
We present CasADi, a free, open-source software tool for rapid, yet efficient solution of optimization problems in general and dynamic optimization problems in particular. To the developer of algorithms for numerical optimization and to the advanced user of such algorithms, it offers a level of abstraction which is notably lower, and hence more flexible, than that of algebraic modeling languages
such as AMPL or GAMS, but higher than working with a conventional automatic differentiation (AD) tool.
CasADi is best described as a minimalistic computer algebra system (CAS) implementing automatic differentiation in eight different flavors. Similar to algebraic modelling languages, it includes high-level interfaces to state-of-the-art numerical codes for nonlinear programming, quadratic programming and integration of
differential-algebraic equations. CasADi is implemented in self-contained C++ code and contains full-featured front-ends to Python and Octave for rapid prototyping. In this paper, we show how CasADi can be used for optimal control using either a collocation approach or a shooting approach.
such as AMPL or GAMS, but higher than working with a conventional automatic differentiation (AD) tool.
CasADi is best described as a minimalistic computer algebra system (CAS) implementing automatic differentiation in eight different flavors. Similar to algebraic modelling languages, it includes high-level interfaces to state-of-the-art numerical codes for nonlinear programming, quadratic programming and integration of
differential-algebraic equations. CasADi is implemented in self-contained C++ code and contains full-featured front-ends to Python and Octave for rapid prototyping. In this paper, we show how CasADi can be used for optimal control using either a collocation approach or a shooting approach.
Avdelning/ar
Publiceringsår
2012
Språk
Engelska
Sidor
297-307
Publikation/Tidskrift/Serie
Recent Advances in Algorithmic Differentiation
Dokumenttyp
Konferensbidrag
Förlag
Springer
Ämne
- Control Engineering
Conference name
6th International Conference on Automatic Differentiation
Conference date
2012-07-23
Status
Published
Forskningsgrupp
- LCCC
ISBN/ISSN/Övrigt
- ISBN: 978-3-642-30022-6