# Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems

@article{Katayama2021StructureExploitingNM, title={Structure-Exploiting Newton-Type Method for Optimal Control of Switched Systems}, author={Sotaro Katayama and Toshiyuki Ohtsuka}, journal={ArXiv}, year={2021}, volume={abs/2112.07232} }

This study proposes an efficient Newton-type method for the optimal control of switched systems under a given mode sequence. A mesh-refinement-based approach is utilized to discretize continuous-time optimal control problems (OCPs) and formulate a nonlinear program (NLP), which guarantees the local convergence of a Newton-type method. A dedicated structure-exploiting algorithm (Riccati recursion) is proposed to perform a Newton-type method for the NLP efficiently because its sparsity structure…

## One Citation

Whole-body model predictive control with rigid contacts via online switching time optimization

- Engineering, MathematicsArXiv
- 2022

—This study presents a whole-body model predictive control (MPC) of robotic systems with rigid contacts, under a given contact sequence using online switching time optimization (STO). We treat robot…

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