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math.OC2024
Filtering-Linearization: A First-Order Method for Nonconvex Trajectory Optimization with Filter-Based Warm-Starting
Minsen Yuan, Ryan J. Caverly, Yue Yu
Nonconvex trajectory optimization is at the core of designing trajectories for complex autonomous systems. A challenge for nonconvex trajectory optimization methods, such as sequen…
math.OC2022★ 10 cited
Robust Local Stabilization of Nonlinear Systems with Controller-Dependent Norm Bounds: A Convex Approach with Input-Output Sampling
Sze Kwan Cheah, Diganta Bhattacharjee, Maziar S. Hemati +1
This letter presents a framework for synthesizing a robust full-state feedback controller for systems with unknown nonlinearities. Our approach characterizes input-output behavior…