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math.OC2022
Solving optimal control problems with non-smooth solutions using an integrated residual method and flexible mesh
Lucian Nita, Eric C. Kerrigan, Eduardo M. G. Vila +1
Solutions to optimal control problems can be discontinuous, even if all the functionals defining the problem are smooth. This can cause difficulties when numerically computing solu…
math.OC2021
Towards a Framework for Nonlinear Predictive Control using Derivative-Free Optimization
Ian McInerney, Lucian Nita, Yuanbo Nie +2
The use of derivative-based solvers to compute solutions to optimal control problems with non-differentiable cost or dynamics often requires reformulations or relaxations that comp…