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...

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Bibliographic Details

Published in:	International journal of control Vol. 93; no. 1; pp. 13 - 29
Main Authors:	Zanelli, A., Domahidi, A., Jerez, J., Morari, M.
Format:	Journal Article
Language:	English
Published:	Abingdon Taylor & Francis 02.01.2020 Taylor & Francis Ltd
Subjects:	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 Access:	Get full text
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