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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., COBYLA, UOBYQA, NEWUOA, BOBYQA, and LINCOA. PRIMA means Reference Implementation for Powell's methods with Modernization and Amelioration, P for Powell.

Nmpc Dclf Dcbf ⭐ 133

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

A library of modern Fortran modules for nonlinear optimization

Powell's Derivative-Free Optimization solvers.

Nonlinear Optimization Algorithms ⭐ 62

MATLAB implementations of a variety of nonlinear programming algorithms.

Riemannian stochastic optimization algorithms: Version 1.0.3

Snopt Matlab ⭐ 35

Matlab interface for sparse nonlinear optimizer SNOPT

Paper_nava_2023_icra_fault Control Ironcub ⭐ 11

Repository associated with the paper "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot", published in IEEE ICRA 2023.

Isogeometric Analysis ⭐ 6

Matlab library for Isogeometric Analysis

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