acados provides fast and embedded solvers for nonlinear optimal control. It is written in C and offers interfaces to the programming languages Python, MATLAB and Octave.

General

• acados implements
  1. fast SQP-type solvers for Nonlinear Programming (NLP) formulations with an Optimal Control Problem (OCP) structure
  2. efficient integration methods, also called integrators, to solve initial value problems with dynamic systems given as an ODE or index-1 DAE. These integrators can efficiently compute first and second-order sensitivities of the results.

Documentation

• Documentation can be found on docs.acados.org
• An overview of the interfaces can be found at docs.acados.org/interfaces

Forum

• If you have any acados-related questions, feel free to post on our forum at discourse.acados.org

Citing

• References can be found at docs.acados.org/citing

Installation

• Instructions can be found at docs.acados.org/installation