1 citations · 1 across the 11 of their papers we have counts for
12 papers
Economic Nonlinear Model Predictive Control for Microgrids with Generator Up and Downtime Constraints
Jürgen Gutekunst, Armin Nurkanovic, Ekaterina Kostina +3
Recently there has been a lot of progress in the development of economic nonlinear model predictive control (NMPC) schemes for multistage optimal power flow (OPF) problems. However…
CCOpt: an Open-Source Solver for Large-Scale Mathematical Programs with Complementarity Constraints
Anton Pozharskiy, François Pacaud, Moritz Diehl +1
This paper presents the Julia package CCOpt, built on top of the interior-point solver MadNLP. CCOpt implements a suite of algorithms for Mathematical Programs with Complementarity…
Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems
Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
Model predictive control (MPC) of hybrid dynamical systems is challenging because the associated optimization problem is nonsmooth and the resulting feedback law is discontinuous.…
Local Convergence Results for Sequential Quadratic Programming with Complementarity Constraints
Armin Nurkanović
Mathematical programs with complementarity constraints (MPCCs) are a challenging class of nonlinear optimization problems, because their nonlinear programming reformulations violat…
Robust Rigid Body Assembly via Contact-Implicit Optimal Control with Exact Second-Order Derivatives
Christian Dietz, Sebastian Albrecht, Gianluca Frison +2
Efficient planning of assembly motions is a long standing challenge in the field of robotics that has been primarily tackled with reinforcement learning and sampling-based methods…
Real-Time Non-Smooth MPC for Switching Systems: Application to a Three-Tank Process
Hendrik Alsmeier, Felix Häusser, Andreas Knödler +4
Real-time model predictive control of non-smooth switching systems remains challenging due to discontinuities and the presence of discrete modes, which complicate numerical integra…
An Augmented Lagrangian Method on GPU for Security-Constrained AC Optimal Power Flow
François Pacaud, Armin Nurkanović, Anton Pozharskiy +2
We present a new algorithm for solving large-scale security-constrained optimal power flow in polar form (AC-SCOPF). The method builds on Nonlinearly Constrained augmented Lagrangi…
A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications
Andrea Ghezzi, Armin Nurkanović, Avishai Weiss +2
High-level decision-making for dynamical systems often involves performance and safety specifications that are activated or deactivated depending on conditions related to the syste…
Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance func…
An Efficient Mixed-Integer Formulation and an Iterative Method for Optimal Control of Switched Systems Under Dwell Time Constraints
Ramin Abbasi-Esfeden, Armin Nurkanovic, Moritz Diehl +2
This paper presents an efficient Mixed-Integer Nonlinear Programming (MINLP) formulation for systems with discrete control inputs under dwell time constraints. By viewing such syst…
A Globally Convergent Method for Computing B-stationary Points of Mathematical Programs with Equilibrium Constraints
Armin Nurkanović, Sven Leyffer
This paper introduces a computationally efficient method that converges globally to B-stationary points of mathematical programs with equilibrium constraints (MPECs). B-stationarit…
First-Order Sweeping Processes and Extended Projected Dynamical Systems: Equivalence, Time-Discretization and Numerical Optimal Control
Anton Pozharskiy, Armin Nurkanović, Moritz Diehl
Constrained dynamical systems are systems such that, by some means, the state stays within a given set. Two such systems are the (perturbed) Moreau sweeping process and the recentl…