50 citations · 79 across the 19 of their papers we have counts for
3 papers · 2 filters
Multi-Phase Optimal Control Problems for Efficient Nonlinear Model Predictive Control with acados
Jonathan Frey, Katrin Baumgärtner, Gianluca Frison +1
Computationally efficient nonlinear model predictive control relies on elaborate discrete-time optimal control problem (OCP) formulations trading off accuracy with respect to the c…
Fast Generation of Feasible Trajectories in Direct Optimal Control
David Kiessling, Katrin Baumgärtner, Jonathan Frey +3
This paper examines the question of finding feasible points to discrete-time optimal control problems. The optimization problem of finding a feasible trajectory is transcribed to a…
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…