Lifted collocation integrators for direct optimal control in ACADO toolkit
type: Item
instance of: scholarly article
title: Lifted collocation integrators for direct optimal control in ACADO toolkit
zbMATH Open document ID: 1387.65057
author: Rien Quirynen
author: Sébastien Gros
author: Boris Houska
author: Moritz Diehl
published in: Mathematical Programming Computation
publication date: 2018-02-21T00:00:00Z
review text: The article is a valuable contribution to the direct collocation approach. The authors investigate a a class of efficient Newton-type algorithms for solving the nonlinear programs. They consider an implicit lifting technique including a condensing and expansion step in which the structure of each subproblem corresponds to that of multiple shooting method for direct optimal control. They establish the mathematical equivalence between the Newton iteration based on direct collocation and the proposed approach and discuss the comutational advantages of a lifted collocation integrator. An implementation of the presented algorithms is done as part of the open-source ACADO code generation software. The article is well written, structured and explained, and contains the following eight sections: Introduction; Direct optimal control methods; Exact lifted collocation integrator for multiple shooting; Adjoint-based inexact lifted collocation integration; Inexact lifted collocation integrator with iterated sensitivities; ACADO toolkit: code generation software; Case study: chain of masses; Conclusions.
reviewed by: Başak Akteke-Öztürk
Mathematics Subject Classification ID: 65K10
Mathematics Subject Classification ID: 49M37
Mathematics Subject Classification ID: 65L60
Mathematics Subject Classification ID: 90C30
zbMATH DE Number: 6841463
zbMATH Keywords: Newton-type methods
zbMATH Keywords: direct optimal control
zbMATH Keywords: collocation methods
zbMATH Keywords: optimization algorithms
describes a project that uses: Matlab
describes a project that uses: HSL
describes a project that uses: dsoa
describes a project that uses: CasADi
describes a project that uses: DAESOL-II
describes a project that uses: LiftOpt
describes a project that uses: qpDUNES
describes a project that uses: OOQP
describes a project that uses: SOCS
describes a project that uses: SUNDIALS
describes a project that uses: ACADO
describes a project that uses: NewtonLib
describes a project that uses: Ipopt
describes a project that uses: qpOASES
describes a project that uses: GPOPS
describes a project that uses: RODAS
describes a project that uses: PROPT
describes a project that uses: MUSCOD-II
describes a project that uses: VIATOC
MaRDI profile type: Publication
full work available at URL: s12532-017-0119-0
OpenAlex ID: W2610237097
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Lifted collocation integrators for direct optimal control in ACADO toolkit (DOI)
DOI: 10.1007/S12532-017-0119-0