articleOptimal Control Applications and MethodsMay 27, 2010Closed access

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

BHBoris HouskaHJHans Joachim FerreauMDMoritz Diehl

KU Leuven

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Abstract

Abstract 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…

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Keywords
  • Computer science
  • Syntax
  • Variety (cybernetics)
  • Software
  • Set (abstract data type)
  • Programming language
  • Source code
  • Code (set theory)
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