QuITO: Numerical software for constrained nonlinear optimal control problems

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) te...

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Bibliographic Details
Published inSoftwareX Vol. 24; p. 101557
Main Authors Ganguly, Siddhartha, Randad, Nakul, D’Silva, Rihan Aaron, S., Mukesh Raj, Chatterjee, Debasish
Format Journal Article
LanguageEnglish
Published Elsevier 01.12.2023
Subjects
ODE constrained optimization
Optimal control
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Summary: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.
ISSN:2352-7110
2352-7110
DOI:10.1016/j.softx.2023.101557