147 citations · 270 across the 16 of their papers we have counts for
10 papers · 1 filter
Discrete Adjoint Method for Variational Integration of Constrained ODEs and its application to Optimal Control of Geometrically Exact Beam Dynamics
Matthias Schubert, Rodrigo T. Sato Martín de Almagro, Karin Nachbagauer +2
Direct methods for the simulation of optimal control problems apply a specific discretization to the dynamics of the problem, and the discrete adjoint method is suitable to calcula…
A new Lagrangian approach to control affine systems with a quadratic Lagrange term
Sigrid Leyendecker, Sofya Maslovskaya, Sina Ober-Blobaum +2
In this work, we consider optimal control problems for mechanical systems on vector spaces with fixed initial and free final state and a quadratic Lagrange term. Specifically, the…
A Multirate Variational Approach to Nonlinear MPC
Yana Lishkova, Mark Cannon, Sina Ober-Blöbaum
A multirate nonlinear model predictive control (NMPC) strategy is proposed for systems with dynamics and control inputs evolving on different timescales. The proposed multirate for…
Multi-objective minimum time optimal control for low-thrust trajectory design
Nikolaus Vertovec, Sina Ober-Blöbaum, Kostas Margellos
We propose a reachability approach for infinite and finite horizon multi-objective optimization problems for low-thrust spacecraft trajectory design. The main advantage of the prop…
Explicit Multi-objective Model Predictive Control for Nonlinear Systems Under Uncertainty
Carlos Ignacio Hernández Castellanos, Sina Ober-Blöbaum, Sebastian Peitz
In real-world problems, uncertainties (e.g., errors in the measurement, precision errors) often lead to poor performance of numerical algorithms when not explicitly taken into acco…
Symmetry and Motion Primitives in Model Predictive Control
Kathrin Flaßkamp, Sina Ober-Blöbaum, Karl Worthmann
Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the…