DAOCP: a dual active set solver for optimal control problems

arXiv:2609.33451 · eess.SY, cs.SY, math.OC · Submitted 2026-09-27 · Read on arXiv

eess.SY, cs.SY, math.OC

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/AlbertoZaupa/daocp

Terminology

• Benchmark — 22× in this paper · explained in 2 episodes
• Active Set — 18× in this paper
• Model Predictive Control — 9× in this paper
• Quadratic Program — 6× in this paper
• Generalization — 4× in this paper · explained in 13 episodes
• Optimal Control Problem — 4× in this paper
• Core — 3× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Sparsity — 2× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• International Conference on Control Applications — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Sequential Quadratic Programming — 1× in this paper

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