scocp: Sequential Convexified Optimal Control Problem solver in Python#
scocp is a pythononic framework for solving general optimal control problems (OCPs) of the form:
\[\begin{split}\begin{align}
\min_{u(t), t_f, y} \quad & \phi(x(t_f),u(t_f),t_f,y) + \int_{t_0}^{t_f} L(x(t),u(t),t) \mathrm{d}t
\\ \mathrm{s.t.} \quad& \dot{x}(t) = f(x(t),u(t),t)
\\& g(x(t),u(t),t,y) = 0
\\& h(x(t),u(t),t,y) \leq 0
\\& x(t_0) \in X(t_0) ,\,\, x(t_f) \in X(t_f)
\\& x(t) \in X(t),\,\, u(t) \in U(t)
\end{align}\end{split}\]