4 citations · 6 across the 11 of their papers we have counts for
3 papers · 2 filters
Solving mathematical programs with complementarity constraints arising in nonsmooth optimal control
Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
This paper examines solution methods for mathematical programs with complementarity constraints (MPCC) obtained from the time-discretization of optimal control problems (OCPs) subj…
Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados
Jonathan Frey, Yunfan Gao, Florian Messerer +3
Robust and stochastic optimal control problem (OCP) formulations allow a systematic treatment of uncertainty, but are typically associated with a high computational cost. The recen…
Gauss-Newton Runge-Kutta Integration for Efficient Discretization of Optimal Control Problems with Long Horizons and Least-Squares Costs
Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
This work proposes an efficient treatment of continuous-time optimal control problem (OCP) with long horizons and nonlinear least-squares costs. The Gauss-Newton Runge-Kutta (GNRK)…