5 papers
Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility
Jan Olucak, Torbjørn Cunis
In this paper, a computationally lightweight approximate robust nonlinear model predictive control (NMPC) law is proposed based on a pair of input-to-state control Lyapunov functio…
On the Practical Implementation of a Sequential Quadratic Programming Algorithm for Nonconvex Sum-of-squares Problems
Jan Olucak, Torbjørn Cunis
Sum-of-squares (SOS) optimization provides a computationally tractable framework for certifying polynomial nonnegativity. If the considered problem is convex, the SOS problem can b…
Safe-by-Design: Approximate Nonlinear Model Predictive Control with Real Time Feasibility
Jan Olucak, Arthur Castello B. de Oliveira, Torbjørn Cunis
This paper proposes a computationally lightweight, continuous-time receding-horizon nonlinear model predictive control (MPC) approach with infinitesimal prediction horizon. Unlike…
CaΣoS: A nonlinear sum-of-squares optimization suite
Torbjørn Cunis, Jan Olucak
We present CaoS, the first MATLAB software specifically designed for nonlinear sum-of-squares optimization. A symbolic polynomial algebra system allows to formulate parametrized…
Real-time Nonlinear Model Predictive Control using One-step Optimizations and Reachable Sets
Jan Olucak, Walter Fichter, Torbjørn Cunis
Model predictive control allows solving complex control tasks with control and state constraints. However, an optimal control problem must be solved in real-time to predict the fut…