A constraint homotopy active set solver for linear-quadratic optimal control
An efficient optimization method is proposed for linear- quadratic optimal control problems with state and control constraints. We describe an active set solver that uses Riccati recursions to solve a sequence of equality-constrained subproblems. The main contribution is a homotopy method based on r...
| Những tác giả chính: | , |
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| Định dạng: | Journal article |
| Ngôn ngữ: | English |
| Được phát hành: |
IEEE
2024
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| Tóm tắt: | An efficient optimization method is proposed for linear- quadratic optimal control problems with state and control constraints. We describe an active set solver that uses Riccati recursions to solve a sequence of equality-constrained subproblems. The main contribution is a homotopy method based on relaxing inequality constraints. This overcomes known shortcomings of Riccati active set solvers relating to their initialisation and their application to problems with time-varying model data. It can be used exclusively or in combination with established Riccati active set solvers. The efficiency is demonstrated in numerical examples against state-of-the-art quadratic programming solvers. |
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