From the 1 of 4 linked papers with an AI index.
4 papers
Input-to-state Stable Approximate Nonlinear Model Predictive Control with Realtime Feasibility
Jan Olucak, Torbjørn Cunis
The paper presents a lightweight approximate robust nonlinear model predictive control scheme that uses input-to-state control Lyapunov functions and robust control barrier 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 establishes relationships between continuous-time, receding horizon, nonlinear model predictive control (MPC) and control Lyapunov and control barrier functions (CLF/CBF…
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 parametrize…