Fast Direct Multiple Shooting Algorithms for Optimal Robot Control.

Authors :: Thoma, M.
Morari, M.
Diehl, Moritz
Mombaur, Katja
Bock, H. G.
Diedam, H.
Wieber, P.-B.
Source :: Fast Motions in Biomechanics & Robotics; 2006, p65-93, 29p
Publication Year :: 2006
Abstract: In this overview paper, we first survey numerical approaches to solve nonlinear optimal control problems, and second, we present our most recent algorithmic developments for real-time optimization in nonlinear model predictive control. [ABSTRACT FROM AUTHOR]