STRUCTURED INTERIOR-POINT SQP METHODS IN OPTIMAL-CONTROL

Trajectory optimization is an important means to improve performance i n many industrial and scientific processes such as robotics or aerospa ce applications. A combination of SQP methods with direct collocation or multiple shooting discretizations has proven very successful for su ch problems. In realistic applications, however, very large QP subprob lems with thousands of constraints may arise. The paper presents an ap proach based on highly efficient solution of the block-sparse QP by a structured interior point method.