Iterative optimal control synthesis for nonlinear switching systems

Minh Vu, Shen Zeng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


This paper introduces computational control solutions to the constrained optimal control problem for nonlinear switching systems. The proposed approaches enable direct incorporation of the system's full-scale dynamics and also allow the system to operate with multiple irregular (distinct) switches. The optimal control signal is synthesized by iteratively solving a sequence of linearly constrained quadratic programs. The effectiveness of the proposed framework is illustrated on the control synthesis of different legged robot models.

Original languageEnglish
Title of host publication2021 American Control Conference, ACC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781665441971
StatePublished - May 25 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: May 25 2021May 28 2021

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans


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