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 NurkanoviÄ, 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 NurkanoviÄ
Mathematical programs with complementarity constraints (MPCCs) are a challenging class of nonlinear optimization problems, because their nonlinear programming reformulations violat…
A Globally Convergent Method for Computing B-stationary Points of Mathematical Programs with Equilibrium Constraints
Armin NurkanoviÄ, 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…
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…