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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Vydané v:	International journal of control Ročník 93; číslo 1; s. 13 - 29
Hlavní autori:	Zanelli, A., Domahidi, A., Jerez, J., Morari, M.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Abingdon Taylor & Francis 02.01.2020 Taylor & Francis Ltd
Predmet:	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
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