Zobrazeno 1 - 10
of 14
pro vyhledávání: '"Robin, Verschueren"'
Autor:
Andrei, Dan, Robin, Verschueren, Georgia, Giannopoulou, Birke, Robert Renè Maria, Thomas, Locher, Elsi-Mari, Borrelli, Philipp, Sommer, Sandro, Schoenborn
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=od_______970::31d517eb98d564f6517e21eb4d01b306
https://hdl.handle.net/2318/1891741
https://hdl.handle.net/2318/1891741
Publikováno v:
IFAC-PapersOnLine, 53 (2)
21th IFAC World Congress. Proceedings
21th IFAC World Congress. Proceedings
This paper considers the real-time implementation of MPC tailored to voltage source converters with inductive-capacitive filter. Previous work has shown that the nonlinear and non-convex MPC problem can be equivalently formulated as a convex quadrati
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::93c2624f96e8da125ee4808806f8c2b3
Autor:
Moritz Diehl, Raymond Zandbergen, Jeroen D. Hol, Robin Verschueren, Fabian Girrbach, Giovanni Bellusci
Publikováno v:
IFAC-Papers
The handling of 3D orientations is a common element in many problems that arise in the estimation and control of dynamic systems. Over-parametrizations such as unit quaternions are commonly used to avoid singularities but come with the property of an
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1510d740632ab30abd5e2eaaf0b5ce1f
https://doi.org/10.1016/j.ifacol.2018.11.091
https://doi.org/10.1016/j.ifacol.2018.11.091
Publikováno v:
SIAM Journal on Optimization. 27:2085-2109
Quadratic programs (QP) with an indefinite Hessian matrix arise naturally in some direct optimal control methods, e.g., as subproblems in a sequential quadratic programming scheme. Typically, the Hessian is approximated with a positive de finite matr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ad83a9c49eab5515a35584c7d308e9fb
https://doi.org/10.1137/16m1081543
https://doi.org/10.1137/16m1081543
Autor:
Gianluca Frison, Jonathan Frey, Rien Quirynen, Robin Verschueren, Andrea Zanelli, Branimir Novoselnik, Thivaharan Albin, Niels van Duijkeren, Moritz Diehl, Dimitris Kouzoupis
Publikováno v:
Mathematical Programming Computation, 14 (1)
This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level languages make it useful for quickly designing an optimization-based contr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0eed2d8c7c3b6357cba4f8c82f889295
http://arxiv.org/abs/1910.13753
http://arxiv.org/abs/1910.13753
Autor:
Rien Quirynen, Andrea Zanelli, Niels van Duijkeren, Robin Verschueren, Dimitris Kouzoupis, Gianluca Frison, Moritz Diehl
Publikováno v:
IFAC-Papers
In this paper we present acados, a new software package for model predictive control. It provides a collection of embedded optimization algorithms written in C, with a strong focus on computational efficiency. Its modular structure makes it useful fo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8321e816fd8ac06908e20abc09464fa5
Publikováno v:
CDC
This paper formulates a new scheme for time-optimal nonlinear model predictive control (TONMPC). In contrast to other TONMPC schemes for point-to-point motions found in the literature, it does not require a time transformation or a time scaling, whic
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::09e973faa5beb499b59baad7d5bd8f05
https://doi.org/10.1109/cdc.2017.8264024
https://doi.org/10.1109/cdc.2017.8264024
We describe a modular rewriting system for translating optimization problems written in a domain-specific language to forms compatible with low-level solver interfaces. Translation is facilitated by reductions, which accept a category of problems and
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::23bdff4fcf8cbcbc2a21e60803d8ce09
http://arxiv.org/abs/1709.04494
http://arxiv.org/abs/1709.04494
Publikováno v:
CDC
Direct optimal control methods first discretize a continuous-time Optimal Control Problem (OCP) and then solve the resulting Nonlinear Program (NLP). Sequential Quadratic Programming (SQP) is a popular family of algorithms to solve this finite dimens
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a5a8e965155901118521d34ae50035d9
https://lirias.kuleuven.be/handle/123456789/562248
https://lirias.kuleuven.be/handle/123456789/562248
Publikováno v:
ECC
This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerica
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::69b1f8fcf93595ef9db481bcc6b41b70
https://doi.org/10.1109/ecc.2016.7810277
https://doi.org/10.1109/ecc.2016.7810277