4 papers · 1 filter
Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems
Anton Pozharskiy, Armin NurkanoviÄ, Moritz Diehl
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance func…
First-Order Sweeping Processes and Extended Projected Dynamical Systems: Equivalence, Time-Discretization and Numerical Optimal Control
Anton Pozharskiy, Armin NurkanoviÄ, Moritz Diehl
Constrained dynamical systems are systems such that, by some means, the state stays within a given set. Two such systems are the (perturbed) Moreau sweeping process and the recentl…
Advanced-Step Real-time Iterations with Four Levels -- New Error Bounds and Fast Implementation in acados
Jonathan Frey, Armin Nurkanovic, Moritz Diehl
The Real-Time Iteration (RTI) is an online nonlinear model predictive control algorithm that performs a single Sequential Quadratic Programming (SQP) per sampling time. The algorit…
Solving mathematical programs with complementarity constraints arising in nonsmooth optimal control
Armin NurkanoviÄ, Anton Pozharskiy, Moritz Diehl
This paper examines solution methods for mathematical programs with complementarity constraints (MPCC) obtained from the time-discretization of optimal control problems (OCPs) subj…