Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 68, Issue 8, Pages 4570-4585Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2022.3207865
Keywords
Algebraic/geometric methods; constrained control; nonlinear systems; optimal control; variational methods
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This article presents a theoretical analysis of SCP procedures for continuous-time optimal control problems, providing convergence guarantees and new insights on handling manifold-type constraints and accelerating SCP-based methods.
Sequential convex programming (SCP) has recently gained significant popularity as an effective method for solving optimal control problems and has been successfully applied in several different domains. However, the theoretical analysis of SCP has received comparatively limited attention, and it is often restricted to discrete-time formulations. In this article, we present a unifying theoretical analysis of a fairly general class of SCP procedures for continuous-time optimal control problems. In addition to the derivation of convergence guarantees in a continuous-time setting, our analysis reveals two new numerical and practical insights. First, we show how one can more easily account for manifold-type constraints, which are a defining feature of optimal control of mechanical systems. Second, we show how our theoretical analysis can be leveraged to accelerate SCP-based optimal control methods by infusing techniques from indirect optimal control.
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