PRIMA is a package for solving general nonlinear optimization problems without using derivatives. It provides the reference implementation for Powell's derivative-free optimization methods, i.e., ...

Abstract: Disturbance observer (DOB) is a well-known two-loop control structure that imparts robustness to a controller with a simple implementation. As a nonlinear DOB for the robotic systems, we ...

Abstract: Recently, recurrent neural network (RNN) models have been extensively investigated for addressing time-dependent nonlinear optimization problems. However, few existing RNN models take ...

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained ...