mpopt 0.0.2

A Multi-phase nonlinear Optimal control problem solver using Pseudo-spectral collocation

MultiPhase Optimal control problem solver (mpopt)

MPOPT is a collection of modules to solve multi-stage optimal control problems(OCPs) using pseudo-spectral collocation method. This module creates Nonlinear programming problem (NLP) from the given OCP description, which is then solved by CasADi nlpsolver using various available plugins such as ipopt, snopt etc.

Existing methods for the optimizer

1. Fixed-segment-widths
2. Adaptive-segment-widths (Iterative)
3. Adaptive-segment-widths (Solve at one go.)

Examples

• Single-phase OCPs

  • Moon lander (2-states, 1-control)
  • Van der pol oscillator ocp (2-states, 1-control)
  • Hyper-sensitive problem (1-state, 1-control)

• Multi-stage OCPs

  • Two-phase schwartz OCP (2 phases, 2-states, 1-control)
  • Multi-stage launch vehicle trajectory optimization (4-phases, 7-states, 3-controls)