SEQUOIA: A sequential algorithm providing feasibility guarantees for constrained optimization
L Nita, EC Kerrigan - IFAC-PapersOnLine, 2023 - Elsevier
Real-time optimal control applications rely on quickly solving nonlinear programs (NLPs)
with many constraints. It is usually challenging to design a safe controller that guarantees …
with many constraints. It is usually challenging to design a safe controller that guarantees …
Solving optimal control problems with non-smooth solutions using an integrated residual method and flexible mesh
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 …
defining the problem are smooth. This can cause difficulties when numerically computing …
Tightly Bounded Polynomials via Flexible Discretizations for Dynamic Optimization Problems
EMG Vila, EC Kerrigan - arXiv preprint arXiv:2403.07707, 2024 - arxiv.org
Polynomials are widely used to represent the trajectories of states and/or inputs. It has been
shown that a polynomial can be bounded by its coefficients, when expressed in the …
shown that a polynomial can be bounded by its coefficients, when expressed in the …