RIOTSA Matlab Toolbox for Solving General Optimal Control Problems
About RIOTS
RIOTS (created by A. L. Schwartz in his Ph.D. dissertation at UC Berkeley in 1996) is a group of programs and utilities, written mostly in C, Fortran, and Mfile scripts and designed as a toolbox for Matlab, that provides an interactive environment for solving a very broad class of optimal control problems. It's originally running on Sun OS4. YangQuan Chen made it for Windows 95 in 1997 based on MEX4. Jinsong Liang rebuilt RIOTS under Win XP based on MEX6 in 2004. Tiebiao Zhao rebuilt RIOTS under Win7/8 based on MEX64 in early 2014.
Main Contributions
 The first implementation of consistent approximation using discretization methods based on RungeKutta integration.
 Solves a very large class of finitetime optimal control problems
 trajectory and endpoint constraints
 control bounds
 variable initial conditions and free final time problems
 integral and/or endpoint cost functions
 System functions can be supplied by the user as either Cfiles or Mfiles.

System dynamics can be integrated with fixed stepsize RungeKutta integration, a discretetime solver or a variable stepsize method.

The controls are represented as splines, allowing for a high degree of function approximation accuracy without requiring a large number of control parameters.

The optimization routines use a coordinate transformation, resulting in a significant reduction in the number of iterations required to solve a problem and an increase in the solution accuracy.

There are three main optimization routines suited fro different levels of generality of the optimal control problem.

There are programs that provide estimates of the integration error.

The main optimization routine includes a special feature for dealing with singular optimal control problems.
Problem Description
RIOTS is designed to solve optimal control problems of the following form:
Software Requirements
 Microsoft Windows XP(32bit or 64bit), Vista Business/Ultimate editions (32bit or 64bit), 7 Professional (32bit or 64bit)
 Matlab 6.5 and later version (32bit or 64bit)
Publications
 Chen Y Q, Schwartz A L. RIOTS―95: a MATLAB toolbox for solving general optimal control problems and its applications to chemical processes[J]. 2002.
 Tricaud C, Chen Y Q. Solving fractional order optimal control problems in riots 95—a general purpose optimal control problem solver[C]//Proceedings of the 3rd IFAC Workshop on Fractional Differentiation and its Applications. 2008.
 Tricaud C, Chen Y Q. An approximate method for numerically solving fractional order optimal control problems of general form [J]. Computers & Mathematics with Applications, 2010, 59(5): 16441655.
 Song Z, Chen Y Q, Liang J S, et al. Optimal mobile sensor motion planning under nonholonomic constraints for parameter estimation of distributed systems[J]. International journal of intelligent systems technologies and applications, 2007, 3(3): 277295.
 Liang J, Fullmer R, Chen Y Q. Timeoptimal magnetic attitude control for small spacecraft[C]//Decision and Control, 2004. CDC. 43rd IEEE Conference on. IEEE, 2004, 1: 255260.
 Ucinski D, Chen Y Q. Sensor motion planning in distributed parameter systems using Turing's measure of conditioning[C]//Decision and Control, 2006 45th IEEE Conference on. IEEE, 2006: 759764.
 Tricaud C, Chen Y Q. Solution of fractional order optimal control problems using SVDbased rational approximations[C]//American Control Conference, 2009. ACC'09. IEEE, 2009: 14301435.
 Tricaud C, Patan M, Ucinski D, et al. Doptimal trajectory design of heterogeneous mobile sensors for parameter estimation of distributed systems[C]//American Control Conference, 2008. IEEE, 2008: 663668.
 Tricaud C, Chen Y Q. Linear and nonlinear model predictive control using a general purpose optimal control problem solver RIOTS 95[C]//Control and Decision Conference, 2008. CCDC 2008. Chinese. IEEE, 2008: 15521557.
 Tricaud C, Chen Y Q. Optimal mobile actuator/sensor network motion strategy for parameter estimation in a class of cyber physical systems[C]//American Control Conference, 2009. ACC'09. IEEE, 2009: 367372.
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Support
For further information about RIOTS, please contact Dr. YangQuan Chen. This webpage was first is created and maintained by Tiebiao Zhao. Since Nov. 2016, it is maintained by Jie Yuan.