Richard D. Braatz

EIQP: Execution-time-certified and Infeasibility-detecting QP Solver

2025 · arXiv (Cornell University)

Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certifying that the employed QP algorithm can either …