4 citations · 7 across the 10 of their papers we have counts for
10 papers · 1 filter
Finite Elements with Switch Detection for Numerical Optimal Control of Projected Dynamical Systems
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
The Finite Elements with Switch Detection (FESD) method is a highly accurate direct transcription method for optimal control of several classes of nonsmooth dynamical systems. This…
High Accuracy Numerical Optimal Control for Rigid Bodies with Patch Contacts through Equivalent Contact Points -- Extended Version
Christian Dietz, Armin Nurkanović, Sebastian Albrecht +1
This paper extends the Finite Elements with Switch Detection and Jumps (FESD-J) [1] method to problems of rigid body dynamics involving patch contacts. The FESD-J method is a high…
Advanced-Step Real-time Iterations with Four Levels -- New Error Bounds and Fast Implementation in acados
Jonathan Frey, Armin Nurkanovic, Moritz Diehl
The Real-Time Iteration (RTI) is an online nonlinear model predictive control algorithm that performs a single Sequential Quadratic Programming (SQP) per sampling time. The algorit…
Solving mathematical programs with complementarity constraints arising in nonsmooth optimal control
Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
This paper examines solution methods for mathematical programs with complementarity constraints (MPCC) obtained from the time-discretization of optimal control problems (OCPs) subj…
Approximate propagation of normal distributions for stochastic optimal control of nonsmooth systems
Florian Messerer, Katrin Baumgärtner, Armin Nurkanović +1
We present a method for the approximate propagation of mean and covariance of a probability distribution through ordinary differential equations (ODE) with discontinous right-hand…
Finite Elements with Switch Detection for Numerical Optimal Control of Nonsmooth Dynamical Systems with Set-Valued Heaviside Step Functions
Armin Nurkanović, Anton Pozharskiy, Jonathan Frey +1
This paper develops high-accuracy methods for numerically solving optimal control problems subject to nonsmooth differential equations with set-valued step functions. A notable sub…