The time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumps

DOI10.1016/j.automatica.2023.111295arXiv2111.06759OpenAlexW4226210494MaRDI QIDQ6088358

Sebastian Albrecht, Armin Nurkanović, Bernard Brogliato, Moritz Diehl

Publication date: 16 November 2023

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2111.06759

zbMATH Keywords

numerical algorithmsmodeling for control optimizationalgorithms and softwarenonsmooth and discontinuous problems

Mathematics Subject Classification ID

Numerical analysis (65-XX) Numerical methods in optimal control (49Mxx)

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