论文标题
NOSNOC：用于非平滑系统数值最佳控制的软件包
NOSNOC: A Software Package for Numerical Optimal Control of Nonsmooth Systems
论文作者
论文摘要
这封信介绍了非滑数数值最佳控制（NOSNOC）开源软件包。它是基于Casadi和IPOPT的模块化MATLAB工具，用于用于数值解决最佳控制问题（OCP），并使用分段平滑系统（PSS）。 The tool supports: 1) automatic reformulation of systems with state jumps into PSS (via the time-freezing reformulation [Nurkanović et al., 2021]) and of PSS into computationally more convenient forms, 2) automatic discretization of the OCP via, e.g., the recently introduced Finite Elements with Switch Detection [Nurkanović et al., 2022] which enables high accuracy optimal control and simulation of PSS，3）用于产生离散时间OCP的解决方案方法。非平滑离散时间OCP是通过同型在同质过程中的连续优化技术求解的，而无需使用整数变量。这使得以统一的方式对一系列非平滑系统进行处理。给出了两个教程示例。基准表明，NOSNOC比传统方法（包括混合智能配方）提供了更快，更准确的解决方案。
This letter introduces the NOnSmooth Numerical Optimal Control (NOSNOC) open-source software package. It is a modular MATLAB tool based on CasADi and IPOPT for numerically solving Optimal Control Problems (OCP) with piecewise smooth systems (PSS). The tool supports: 1) automatic reformulation of systems with state jumps into PSS (via the time-freezing reformulation [Nurkanović et al., 2021]) and of PSS into computationally more convenient forms, 2) automatic discretization of the OCP via, e.g., the recently introduced Finite Elements with Switch Detection [Nurkanović et al., 2022] which enables high accuracy optimal control and simulation of PSS, 3) solution methods for the resulting discrete-time OCP. The nonsmooth discrete-time OCP are solved with techniques of continuous optimization in a homotopy procedure, without the use of integer variables. This enables the treatment of a broad class of nonsmooth systems in a unified way. Two tutorial examples are given. A benchmark shows that NOSNOC provides both faster and more accurate solutions than conventional approaches, including mixed-integer formulations.
