QuITO: Numerical software for constrained nonlinear optimal control problems -- extended version
Abstract
We introduce the MATLAB-based software QuITO (Quasi-Interpolation based Trajectory Optimization) to numerically solve a wide class of constrained nonlinear optimal control problems (OCP). The solver is based on the QuITO (the same abbreviation) algorithm, which is a direct multiple shooting (DMS) technique that leverages a particular type of quasi-interpolation scheme for control trajectory parameterization. The software is equipped with several options for numerical integration, and optimization solvers along with a Graphical User Interface (GUI) to make the process of designing and solving the OCPs smooth and seamless for users with minimum coding experience. We demonstrate with two benchmark numerical examples the procedure to generate constrained state and control trajectories using QuITO.
Cite
@article{arxiv.2310.09594,
title = {QuITO: Numerical software for constrained nonlinear optimal control problems -- extended version},
author = {Siddhartha Ganguly and Nakul Randad and Rihan Aaron D'Silva and Mukesh S Raj and Debasish Chatterjee},
journal= {arXiv preprint arXiv:2310.09594},
year = {2023}
}
Comments
15 pages, published in SoftwareX