论文标题
具有灵敏度繁殖用于Casadi的快速积分器
Fast integrators with sensitivity propagation for use in CasADi
论文作者
论文摘要
具有灵敏度传播的有效积分器是最佳控制问题数值解决方案的重要成分。本文概述了Acados集成商，它们的Python界面，并提供了一个工作流，该工作流程允许在Casadi连接的非线性编程（NLP）求解器中使用其敏感性。讨论，证明并作为开源软件提供了实施。在不同的示例中，将提出的集成器的计算时间及其灵敏度计算与天然Casadi搭配器，CVODES和IDA进行了比较。对于空中风能系统模型，显示了一个用于仿真和最多三个数量级的数量级的速度。
Efficient integrators with sensitivity propagation are an essential ingredient for the numerical solution of optimal control problems. This paper gives an overview on the acados integrators, their Python interface and presents a workflow that allows using them with their sensitivities within a nonlinear programming (NLP) solver interfaced by CasADi. The implementation is discussed, demonstrated and provided as open-source software. The computation times of the proposed integrator and its sensitivity computation are compared to the native CasADi collocation integrator, CVODES and IDAS on different examples. A speedup of one order of magnitude for simulation and of up to three orders of magnitude for the forward sensitivity propagation is shown for an airborne wind energy system model.
