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math.OC2021
iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations
Bilal Hammoud, Armand Jordana, Ludovic Righetti
This work addresses the problem of risk-sensitive control for nonlinear systems with imperfect state observations, extending results for the linear case. In particular, we derive a…
math.OC2021
IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control
Kai Pfeiffer, Ludovic Righetti
Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block…