QuITO: Numerical software for constrained nonlinear optimal control problems

QuITO: Numerical software for constrained nonlinear optimal control problems

Blog Article

We introduce the MATLAB-based software QuITO (Quasi-Interpolation based Trajectory Optimization) to numerically solve a wide FRUIT 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 In-Ear benchmark numerical examples the procedure to generate constrained state and control trajectories using QuITO.