English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

This work proposes an efficient treatment of continuous-time optimal controlproblem (OCP) with long horizons and nonlinear least-squares costs. TheGauss-Newton Runge-Kutta (GNRK) integrator is presented which provides ahigh-order cost integration. Crucially, the Hessian of the cost terms requiredwithin an SQP-type algorithm is approximated with a Gauss-Newton Hessian.Moreover, L2 penalty formulations for constraints are shown to be particularlyeffective for optimization with GNRK. An efficient implementation of GNRK isprovided in the open-source software framework acados. We demonstrate theeffectiveness of the proposed approach and its implementation on anillustrative example showing a reduction of relative suboptimality by a factorgreater than 10 while increasing the runtime by only 10 %.

Gauss-Newton Runge-Kutta Integration for Efficient Discretization of Optimal Control Problems with Long Horizons and Least-Squares Costs