4 papers
Numerically Reliable Brunovsky Transformations
Shaohui Yang, Colin N. Jones
The Brunovsky canonical form provides sparse structural representations that are beneficial for computational optimal control, yet existing methods fail to compute it reliably. We…
Latent Linear Quadratic Regulator for Robotic Control Tasks
Yuan Zhang, Shaohui Yang, Toshiyuki Ohtsuka +2
Model predictive control (MPC) has played a more crucial role in various robotic control tasks, but its high computational requirements are concerning, especially for nonlinear dyn…
Polynomial and Parallelizable Preconditioning for Block Tridiagonal Positive Definite Matrices
Shaohui Yang, Toshiyuki Ohtsuka, Brian Plancher +1
The efficient solution of moderately large-scale linear systems arising from the KKT conditions in optimal control problems (OCPs) is a critical challenge in robotics. With the sta…
Brunovsky Riccati Recursion for Linear Model Predictive Control
Shaohui Yang, Toshiyuki Ohtsuka, Colin N. Jones
In almost all algorithms for Model Predictive Control (MPC), the most time-consuming step is to solve some form of Linear Quadratic (LQ) Optimal Control Problem (OCP) repeatedly. T…