English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Sequential Convex Programming (SCP) has recently gained significantpopularity as an effective method for solving optimal control problems and hasbeen successfully applied in several different domains. However, thetheoretical analysis of SCP has received comparatively limited attention, andit is often restricted to discrete-time formulations. In this paper, we presenta unifying theoretical analysis of a fairly general class of SCP procedures forcontinuous-time optimal control problems. In addition to the derivation ofconvergence guarantees in a continuous-time setting, our analysis reveals twonew numerical and practical insights. First, we show how one can more easilyaccount for manifold-type constraints, which are a defining feature of optimalcontrol of mechanical systems. Second, we show how our theoretical analysis canbe leveraged to accelerate SCP-based optimal control methods by infusingtechniques from indirect optimal control.

Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control