2 papers
eess.SY2026
DAOCP: a dual active set solver for optimal control problems
Alberto Zaupa, Samuel Erickson, Mikael Johansson
We present DAOCP, a dual active set solver for linear quadratic optimal control problems with stage-wise equality and inequality constraints. Active set methods are leading Model P…
eess.SY2026
An Adaptive Multi-Parameter ADMM Algorithm for Embedded MPC
Alberto Zaupa, Mikael Johansson
We introduce an adaptive multi-parameter variant of ADMM and prove that it exhibits local superlinear convergence once the set of active constraints has been identified. In simulat…