We prove that if a homogeneous, continuously differentiable vector field is asymptotically stable, then it admits a Lyapunov function which is the ratio of two polynomials (i.e., a rational function). We further show that when the vector field is polynomial, the Lyapunov inequalities on both the rational function and its derivative have sum of squares … Read more
Today’s humanoid robots are complex mechanical systems with many degrees of freedom that are built to achieve locomotion skills comparable to humans. In order to synthesize whole-body motions, real-tme capable direct methods of optimal control are a subject of contemporary research. To this end, Nonlinear Model Predictive Control is the method of choice to realize … Read more
We show that existence of a global polynomial Lyapunov function for a homogeneous polynomial vector field or a planar polynomial vector field (under a mild condition) implies existence of a polynomial Lyapunov function that is a sum of squares (sos) and that the negative of its derivative is also a sum of squares. This result … Read more
Model predictive control (MPC) formulations with linear dynamics and quadratic objectives can be solved efficiently by using a primal-dual interior-point framework, with complexity proportional to the length of the horizon. An alternative, which is more able to exploit the similarity of the problems that are solved at each decision point of linear MPC, is to … Read more
We describe a nonlinear generalization of dual dynamic programming theory and its application to value function estimation for deterministic control problems over continuous state and action (or input) spaces, in a discrete-time infinite horizon setting. We prove that the result of a one-stage policy evaluation can be used to produce nonlinear lower bounds on the … Read more
We present a stochastic model predictive control (MPC) framework to determine real-time commitments in energy and frequency regulation markets for a stationary battery system while simultaneously mitigating long-term demand charges for an attached load. The framework solves a two-stage stochastic program over a receding horizon that maximizes the expected profit and that factors in uncertainty … Read more
We show that the evolution of a dynamical system driven by controls obtained by the solution of an embedded optimization problem (as done in MPC) can be cast as a differential variational inequality (DVI). The DVI abstraction reveals that standard sampled-data MPC implementations (in which the control law is computed using states that are sampled … Read more
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
We present a mixed-integer nonlinear programming (MINLP) formulation of a UAV path optimization problem in an attempt to find the globally optimum solution. As objective functions in UAV path optimization problems typically tend to be non-convex, traditional optimization solvers (typically local solvers) are prone to local optima, which lead to severely sub-optimal controls. For the … Read more
PDE-constrained optimization aims at finding optimal setups for partial differential equations so that relevant quantities are minimized. Including sparsity promoting terms in the formulation of such problems results in more practically relevant computed controls but adds more challenges to the numerical solution of these problems. The needed L^1-terms as well as additional inclusion of box … Read more