The control-toolbox ecosystem gathers
The root package is OptimalControl.jl which aims to provide tools to model and solve optimal control problems with ordinary differential equations by direct and indirect methods.
To learn how to define and solve optimal control problems in Julia, please refer to the documentation of OptimalControl.jl:
The documentation provides:
- step-by-step examples of basic optimal control problems;
- guides on problem definition, solver initialization, solution plotting, and Hamiltonian flow computation;
- tutorials on combining direct and indirect methods, and working with discretized problems;
- real-world applications in calculus of variations, MRI, space mechanics, and more;
- a collection of benchmark problems, modeled in OptimalControl and JuMP, to test and compare solvers.
Installation ©
To install OptimalControl.jl please open Julia's interactive session (known as REPL) and press ] key in the REPL to use the package mode, then add the package:
julia> ]
pkg> add OptimalControlNote
Sometimes the above command can fail due to the default Julia registry ('General') not being installed for some reason. You can check that the registry is installed with
pkg> registry st
Registry Status
[23338594] General (https://github.com/JuliaRegistries/General.git)If the General registry is missing, simply add it
pkg> registry add Generalthen retry the add command.
The control-toolbox hierarchy includes:
- OptimalControl.jl: main package
- CTBase.jl: fundamentals of the control-toolbox ecosystem
- CTDirect.jl: direct transcription of an optimal control problem and resolution
- CTFlows.jl: classical flow, Hamiltonian flow, flow from optimal control problem
- CTModels.jl: models of optimal control problem, solution
- CTParser.jl: parser to define an optimal control problem with an abstract syntax
flowchart TD
B(<a href='https://control-toolbox.org/OptimalControl.jl/stable/dev-ctbase.html'>CTBase</a>)
M(<a href='https://control-toolbox.org/OptimalControl.jl/stable/dev-ctmodels.html'>CTModels</a>)
P(<a href='https://control-toolbox.org/OptimalControl.jl/stable/dev-ctparser.html'>CTParser</a>)
O(<a href='https://control-toolbox.org/OptimalControl.jl/stable/dev-optimalcontrol.html'>OptimalControl</a>)
D(<a href='https://control-toolbox.org/OptimalControl.jl/stable/dev-ctdirect.html'>CTDirect</a>)
F(<a href='https://control-toolbox.org/OptimalControl.jl/stable/dev-ctflows.html'>CTFlows</a>)
O --> D
O --> M
O --> F
O --> P
F --> M
O --> B
F --> B
D --> B
D --> M
P --> M
P --> B
M --> B
Any contributions are welcomed, check out how to contribute to a Github project. If it is your first contribution, you can also check this first contribution tutorial. You can find first good issues (if any 🙂) here and the list of control-toolbox issues at the control-toolbox list of issues.
For any package, if you think you found a bug or if you have a feature request or suggestion, feel free to open an issue. Before opening a pull request, start an issue or a discussion on the topic, please. If you want to ask a question, feel free to start a discussion.
Note
If you want to add an application or a package to the control-toolbox ecosystem, please follow this set up tutorial.
If you use the package OptimalControl.jl in your work, please cite us.
calligraphy by Alain Hurtig- bocop: Bocop3, a direct solver for optimal control problem developed in
C++ - control-toolbox wiki
