A Gauss-Newton-based Decomposition Algorithm for Nonlinear Mixed-Integer Optimal Control Problems

For the fast approximate solution of Mixed-Integer Non-Linear Programs (MINLPs) arising in the context of Mixed-Integer Optimal Control Problems (MIOCPs) a decomposition algorithm exists that solves a sequence of three comparatively less hard subproblems to determine an approximate MINLP solution. In this work, we propose a problem formulation for the second algorithm stage that is … Read more

Kernel Distributionally Robust Optimization

We propose kernel distributionally robust optimization (Kernel DRO) using insights from the robust optimization theory and functional analysis. Our method uses reproducing kernel Hilbert spaces (RKHS) to construct a wide range of convex ambiguity sets, including sets based on integral probability metrics and finite-order moment bounds. This perspective unifies multiple existing robust and stochastic optimization … Read more

Survey of Sequential Convex Programming and Generalized Gauss-Newton Methods

We provide an overview of a class of iterative convex approximation methods for nonlinear optimization problems with convex-over-nonlinear substructure. These problems are characterized by outer convexities on the one hand, and nonlinear, generally nonconvex, but differentiable functions on the other hand. All methods from this class use only first order derivatives of the nonlinear functions … Read more

Experimental operation of a solar-driven climate system with thermal energy storages using mixed-integer nonlinear MPC

This work presents the results of experimental operation of a solar-driven climate system using mixed-integer nonlinear Model Predictive Control (MPC). The system is installed in a university building and consists of two solar thermal collector fields, an adsorption cooling machine with different operation modes, a stratified hot water storage with multiple inlets and outlets as … Read more

Design, Implementation and Simulation of an MPC algorithm for Switched Nonlinear Systems under Combinatorial Constraints

Within this work, we present a warm-started algorithm for Model Predictive Control (MPC) of switched nonlinear systems under combinatorial constraints based on Combinatorial Integral Approximation (CIA). To facilitate high-speed solutions, we introduce a preprocessing step for complexity reduction of CIA problems, and include this approach within a new toolbox for solution of CIA problems with … Read more

CasADi – A software framework for nonlinear optimization and optimal control

We present CasADi, an open-source software framework for numerical optimization. CasADi is a general-purpose tool that can be used to model and solve optimization problems with a large degree of flexibility, larger than what is associated with popular algebraic modeling languages such as AMPL, GAMS, JuMP or Pyomo. Of special interest are problems constrained by … Read more

A dual Newton strategy for scenario decomposition in robust multi-stage MPC

This paper considers the solution of tree-structured Quadratic Programs (QPs) as they may arise in multi- stage Model Predictive Control (MPC). In this context, sampling the uncertainty on prescribed decision points gives rise to different scenarios that are linked to each other via the so-called non-anticipativity constraints. Previous work suggests to dualize these constraints and … Read more

A Condensing Algorithm for Nonlinear MPC with a Quadratic Runtime in Horizon Length

A large number of practical algorithms for Optimal Control Problems (OCP) relies on a so-called condensing procedure to exploit the given structure in the quadratic programming (QP) subproblems. While the established structure-exploiting condensing algorithm is of cubic complexity in the horizon length, in this technical note we propose a novel algorithm that is only of … Read more

Convex Optimization with ALADIN

This paper presents novel convergence results for the Augmented Lagrangian based Alternating Direction Inexact Newton method (ALADIN) in the context of distributed convex optimization. It is shown that ALADIN converges for a large class of convex optimization problems from any starting point to minimizers without needing line-search or other globalization routines. Under additional regularity assumptions, … Read more

A Sparsity Preserving Convexification Procedure for Indefinite Quadratic Programs Arising in Direct Optimal Control

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 (SQP) scheme. Typically, the Hessian is approximated with a positive definite matrix to ensure having a unique solution; such a procedure is called \emph{regularization}. We present a novel regularization method tailored … Read more