Engineering Commons^™

Opty: Software For Trajectory Optimization And Parameter Identification Using Direct Collocation, Jason K. Moore, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

opty is a tool for describing and solving trajectory optimization and parameter identification problems based on symbolic descriptions of ordinary differential equations and differential algebraic equations that describe a dynamical system. The motivation for its development resides in the need to solve optimal control problems of biomechanical systems. The target audience is engineers and scientists interested in solving nonlinear optimal control and parameter identification problems with minimal computational overhead.