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math.OC2024
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…
math.OC2021★ 1 cited
Introducing the quadratically-constrained quadratic programming framework in HPIPM
Gianluca Frison, Jonathan Frey, Florian Messerer +2
This paper introduces the quadratically-constrained quadratic programming (QCQP) framework recently added in HPIPM alongside the original quadratic-programming (QP) framework. The…