FORCES NLP: an efficient implementation of interior-point methods for multistage nonlinear nonconvex programs

Real-time implementation of optimisation-based control and trajectory planning can be very challenging for nonlinear systems. As a result, if an implementation based on a fixed linearisation is not suitable, the nonlinear problems are typically locally approximated online, in order to leverage the s...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	International journal of control Jg. 93; H. 1; S. 13 - 29
Hauptverfasser:	Zanelli, A., Domahidi, A., Jerez, J., Morari, M.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Abingdon Taylor & Francis 02.01.2020 Taylor & Francis Ltd
Schlagworte:	Algorithms Computation embedded systems interior-point methods Nonlinear programming Nonlinear systems numerical optimisation Predictive control Solvers Trajectory control Trajectory optimization Trajectory planning
ISSN:	0020-7179, 1366-5820
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!