6 papers
GoPRONTO: a Feedback-based Framework for Nonlinear Optimal Control
Lorenzo Sforni, Sara Spedicato, Ivano Notarnicola +1
In this paper we We propose GoPRONTO, a first-order, feedback-based approach to solve nonlinear discrete-time optimal control problems. This method is a generalized first-order fra…
A Sparse Polytopic LPV Controller for Fully-Distributed Nonlinear Optimal Control
Sara Spedicato, Sarnavi Mahesh, Giuseppe Notarstefano
In this paper we deal with distributed optimal control for nonlinear dynamical systems over graph, that is large-scale systems in which the dynamics of each subsystem depends on ne…
Minimum-time trajectory generation for quadrotors in constrained environments
Sara Spedicato, Giuseppe Notarstefano
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying…
An optimal control approach to the design of periodic orbits for mechanical systems with impacts
Sara Spedicato, Giuseppe Notarstefano
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse…
Computing minimum-time trajectories for quadrotors via transverse coordinates
Sara Spedicato, Giuseppe Notarstefano
In this paper we present a novel strategy to compute minimum-time trajectories for quadrotors. In particular, we consider the motion in constrained environments, taking into accoun…
From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots
Sara Spedicato, Antonio Franchi, Giuseppe Notarstefano
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver…