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NLOptControl.jl Documentation

Introduction

This software solves nonlinear control problems at a high-level very quickly.

It added to juliaOpt community by:

Installation

There are several packages that need to be installed, to do this run:

Pkg.add("NLOptControl")
Pkg.add("VehicleModels")
Pkg.add("PrettyPlots")

Either Ipopt.jl or KNITRO.jl can be used for the nonlinear solver. Since Ipopt is free, all of the examples will use it and it can be added with:

Pkg.add("Ipopt");Pkg.build("Ipopt");

If you are using Linux make sure that you have gfortran to run Ipopt:

sudo apt-get install gfortran

Also, a plotting backend will be required and there are several options:

Pkg.add("PGFPlots");Pkg.build("PGFPlots")   # best looking
Pkg.add("GR");Pkg.build("GR");              # most reliable
Pkg.add("PyPlot");Pkg.build("PyPlot")       # also a good option

Citation

If you find NLOptControl.jl useful, please cite it:

@software{nlopt,
  author = {{Huckleberry Febbo}},
  title = {NLOptControl.jl},
  url = {https://github.com/JuliaMPC/NLOptControl.jl},
  version = {0.0.1},
  date = {2017-06-17},
}

If you find VehicleModels.jl useful, please cite this paper:

@Conference{Febbo2017,
  author    = {Huckleberry Febbo, Jiechao Liu, Paramsothy Jayakumar, Jeffrey L. Stein, Tulga Ersal},
  title     = {Moving Obstacle Avoidance for Large, High-Speed Autonomous Ground Vehicles},
  year      = {2017},
  publisher = {IEEE}
}

2017 juliaCon Workshop Notebook (OUT OF DATE!)

After installation, the notebook can be viewed:

using IJulia
notebook(dir=Pkg.dir("NLOptControl/examples"))

Also, on the left side of this site, there are many tutorials that provide complete examples for using this software. Please look at these for information on how to use this tool.

Acknowledgements

Exported Functions

The following link provides documentation all of the exported functions for NLOptControl.jl, VehicleModels.jl, and PrettyPlots.jl.