Matlab optimal control toolbox

[Jonas Koenemann]

Hi Casadi Users!

I have been developing a Matlab optimal control toolbox based on casadi. You can find it at https://github.com/JonasKoenemann/optimal-control or 

openocl.org (Open Optimal Control Library)

At the moment i am occasionally active in development and documentation, so please let me know if you need further guidelines, run into problems, miss a feature or are interested in contributing. 

Basic documentation is available at the github wiki:

https://github.com/JonasKoenemann/optimal-control/wiki

and have a look at the examples!

Features:

 * Easy modeling of system and optimal control problem in an object oriented way

 * Use of matrix-valued system variables (no need to worry about indexing)

 * Easy parsing of the solution, optimal state and controls trajectory

 * Direct collocation method for optimal control, ODE or DAE model

 

 * I was able to use the toolbox with Peter Corke's robotics toolbox for the system dynamics, e.g. recursive newton euler method for arm-type robots (see https://github.com/JonasKoenemann/openocl_models)

 * I used the toolbox for trajectory optimization of a 6DOF model for airborne wind energy / flight dynamics (https://openawe.github.io/)

Hope you will find the toolbox useful!

Jonas