2 papers
math.OC2026
Free-Horizon Newton Method for Nonlinear Optimal Control
Gyeongrok Ha, Kenji Fujimoto, Ichiro Maruta
This paper presents a novel trajectory optimization method for nonlinear l1-optimal control problems in which the control horizon is treated as a free variable, allowing both the c…
eess.SY2026
System Identification for Virtual Sensor-Based Model Predictive Control: Application to a 2-DoF Direct-Drive Robotic Arm
Kosei Tsuji, Ichiro Maruta, Kenji Fujimoto +3
Nonlinear Model Predictive Control (NMPC) offers a powerful approach for controlling complex nonlinear systems, yet faces two key challenges. First, accurately modeling nonlinear d…