8 citations · 14 across the 6 of their papers we have counts for
4 papers · 1 filter
Fast Generation of Feasible Trajectories in Direct Optimal Control
David Kiessling, Katrin Baumgärtner, Jonathan Frey +3
This paper examines the question of finding feasible points to discrete-time optimal control problems. The optimization problem of finding a feasible trajectory is transcribed to a…
Fourth-order suboptimality of nominal model predictive control in the presence of uncertainty
Florian Messerer, Katrin Baumgärtner, Sergio Lucia +1
We investigate the suboptimality resulting from the application of nominal model predictive control (MPC) to a nonlinear discrete time stochastic system. The suboptimality is defin…
Gauss-Newton Runge-Kutta Integration for Efficient Discretization of Optimal Control Problems with Long Horizons and Least-Squares Costs
Jonathan Frey, Katrin Baumgärtner, Moritz Diehl
This work proposes an efficient treatment of continuous-time optimal control problem (OCP) with long horizons and nonlinear least-squares costs. The Gauss-Newton Runge-Kutta (GNRK)…
A dual-control effect preserving formulation for nonlinear output-feedback stochastic model predictive control with constraints
Florian Messerer, Katrin Baumgärtner, Moritz Diehl
We propose a formulation for approximate constrained nonlinear output-feedback stochastic model predictive control. Starting from the ideal but intractable stochastic optimal contr…