1 citations · 2 across the 15 of their papers we have counts for
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Exact Continuous Reformulations of Logic Constraints in Nonlinear Optimization and Optimal Control Problems
Jad Wehbeh, Eric C. Kerrigan
Many nonlinear optimal control and optimization problems involve constraints that combine continuous dynamics with discrete logic conditions. Standard approaches typically rely on…
Optimistic vs Pessimistic Uncertainty Model Unfalsification
Jannes Hühnerbein, Jad Wehbeh, Eric C. Kerrigan
We present a novel, input-output data-driven approach to uncertainty model identification. As the true bounds and distributions of system uncertainties ultimately remain unknown, w…
Smooth Logic Constraints in Nonlinear Optimization and Optimal Control Problems
J. Wehbeh, E. C. Kerrigan
In some optimal control problems, complex relationships between states and inputs cannot be easily represented using continuous constraints, necessitating the use of discrete logic…
Update-Aware Robust Optimal Model Predictive Control for Nonlinear Systems
J. Wehbeh, E. C. Kerrigan
Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case per…
Accurate Solutions to Optimal Control Problems via a Flexible Mesh and Integrated Residual Transcription
Lucian Nita, Eric C. Kerrigan
We propose joining a flexible mesh design with an integrated residual transcription in order to improve the accuracy of numerical solutions to optimal control problems. This approa…
Robust Output Feedback of Nonlinear Systems through the Efficient Solution of Min-Max Optimization Problems
Jad Wehbeh, Eric C. Kerrigan
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to…