5 papers · 1 filter
A Sequential Quadratic Programming Perspective on Optimal Control
Abhijeet, Suman Chakravorty
This paper investigates the performance of Newton's method, iterative Linear Quadratic Regulator (iLQR), and Differential Dynamic Programming (DDP) in solving discrete-time optimal…
An Optimal Solution to Infinite Horizon Nonholonomic and Discounted Nonlinear Control Problems
Mohamed Naveed Gul Mohamed, Abhijeet, Aayushman Sharma +2
This paper considers the infinite horizon optimal control problem for nonlinear systems. Under the condition of nonlinear controllability of the system to any terminal set containi…
Safe Optimal Control using Log Barrier Constrained iLQR
Abhijeet, Suman Chakravorty
This paper presents a constrained iterative Linear Quadratic Regulator (iLQR) framework for nonlinear optimal control problems with box constraints on both states and control input…
Optimal Control with Lyapunov Stability Guarantees for Space Applications
Abhijeet, Mohamed Naveed Gul Mohamed, Aayushman Sharma +1
This paper investigates the infinite horizon optimal control problem (OCP) for space applications characterized by nonlinear dynamics. The proposed approach divides the problem int…
A Sequential Quadratic Programming Perspective on Optimal Control
Abhijeet, Suman Chakravorty
This paper offers a unified perspective on different approaches to the solution of optimal control problems through the lens of constrained sequential quadratic programming. In par…