casadi opti 调用,CasADi: a software framework for nonlinear optimization and optimal control

最新推荐文章于 2024-06-19 09:40:01 发布

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最新推荐文章于 2024-06-19 09:40:01 发布

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文章标签： casadi opti 调用

本文介绍CasADi，一个开源数值优化软件框架。CasADi适用于多种优化问题，特别是受微分方程约束的问题，即最优控制问题。该框架采用自包含C++编写，并提供Python、MATLAB和Octave接口。自2009年以来，CasADi已成功应用于学术教学及过程控制、机器人和航空航天等多个领域。

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摘要：

We present CasADi, an open-source software framework for numerical optimization. CasADi is a general-purpose tool that can be used to model and solve optimization problems with a large degree of flexibility, larger than what is associated with popular algebraic modeling languages such as AMPL, GAMS, JuMP or Pyomo. Of special interest are problems constrained by differential equations, i.e. optimal control problems. CasADi is written in self-contained C++, but is most conveniently used via full-featured interfaces to Python, MATLAB or Octave. Since its inception in late 2009, it has been used successfully for academic teaching as well as in applications from multiple fields, including process control, robotics and aerospace. This article gives an up-to-date and accessible introduction to the CasADi framework, which has undergone numerous design improvements over the last seven years.

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