42 citations · 58 across the 6 of their papers we have counts for
6 papers
Fast Switching in Mixed-Integer Model Predictive Control
Artemi Makarow, Christian Kirches
We deduce stability results for finite control set and mixed-integer model predictive control with a downstream oversampling phase. The presentation rests upon the inherent robustn…
Costate Convergence with Legendre-Lobatto Collocation for Trajectory Optimization
José Garrido, Artemi Makarow, Marco Sagliano +2
This paper introduces a new method of discretization that collocates both endpoints of the domain and enables the complete convergence of the costate variables associated with the…
Suboptimal nonlinear model predictive control with input move-blocking
Artemi Makarow, Christoph Rösmann, Torsten Bertram
This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterization is explicitly considered…
Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups
Christoph Rösmann, Artemi Makarow, Torsten Bertram
This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization p…
Time-optimal control with direct collocation and variable discretization
Christoph Rösmann, Artemi Makarow, Torsten Bertram
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time int…
Stabilizing Quasi-Time-Optimal Nonlinear Model Predictive Control with Variable Discretization
Christoph Rösmann, Artemi Makarow, Torsten Bertram
This paper deals with the development and analysis of novel time-optimal point-to-point model predictive control concepts for nonlinear systems. Recent approaches in the literature…