Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...

A small polygon is a convex polygon of unit diameter. We are interested in small polygons which have the largest area for a given number of vertices n. Many instances are already solved in the literature, namely for all odd n, and for n = 4, 6 and 8. Thus, for even n ≥ 10, instances of this problem remain open. Finding those largest small polygons can be formulated as nonconvex quadratic progra...

Quadratic programming can be seen both as a general approach to linear programming and a special class of non-linear programming. Moreover, quadratic programming problems are of utmost importance in an increasing variety of practical fields, such as, regression, efficient production and portfolio selection. As ambiguity and vagueness are natural and ever-present in real-life situations requirin...

An algorithm for monotropic piecewise quadratic programming is developed. It converges to an exact solution in finitely many iterations and can be thought of as an extension of the simplex method for convex programming and the active set method for quadratic programming. Computational results show that solving a piecewise quadratic program is not much harder than solving a quadratic program of ...