Structured Interior Point Sqp Methods in Optimal Control
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چکیده
Trajectory optimization is an important means to improve performance in many industrial and scientiic processes such as robotics or aerospace applications. A combination of SQP methods with direct collocation or multiple shooting discretizations has proven very successful for such problems. In realistic applications, however, very large QP sub-problems with thousands of constraints may arise. The paper presents an approach based on highly eecient solution of the block-sparse QP by a structured interior point method.
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تاریخ انتشار 1996