juliacon

Solving optimal control problems with Julia

Jean-Baptiste Caillau, Olivier Cots, Joseph Gergaud, Pierre Martinon, Sophia Sed

affiliations

What it's about

  • Nonlinear optimal control of ODEs:

\[g(x(t_0),x(t_f)) + \int_{t_0}^{t_f} f^0(x(t), u(t))\, \mathrm{d}t \to \min\]

subject to

\[\dot{x}(t) = f(x(t), u(t)),\quad t \in [t_0, t_f]\]

plus boundary, control and state constraints

  • Our core interests: numerical & geometrical methods in control, applications

Where it comes from

OptimalControl.jl

Wrap up

  • [X] High level modelling of optimal control problems
  • [X] Efficient numerical resolution coupling direct and indirect methods
  • [X] Collection of examples

Future

  • ct_repl
  • Additional solvers: direct shooting, collocation for BVP, Hamiltonian pathfollowing...
  • ... and open to contributions!
  • CTProblems.jl

control-toolbox.org

control-toolbox.org

Credits (not exhaustive!)