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Keywords:

  • optimization;
  • second order;
  • quadric control update;
  • optimal control

Abstract

This paper describes a trajectory optimization algorithm that generates a quadric control update, which satisfies the constraints and necessary conditions to the second order. The algorithm is designed to solve multistage optimization problems. The algorithm is tested against a commercially available Sequential Quadratic Programming algorithm on problems with linear dynamics and linear and nonlinear constraints. This algorithm is a departure from previous methods because it explicitly satisfies the constraints to the second order. Copyright © 2009 John Wiley & Sons, Ltd.