Real-Time Sequential Convex Programming for Optimal Control Applications

Details Real-Time Sequential Convex Programming for Optimal Control Applications Real-Time Sequential Convex Programming for Optimal Control Applications

2011-05-17

arxiv.org/abs/1105.3427v1

Mathematics

Optimization and Control

10 pages, 3 figures, HPSC2009 conference paper

Scientific paper

This paper proposes real-time sequential convex programming (RTSCP), a method for solving a sequence of nonlinear optimization problems depending on an online parameter. We provide a contraction estimate for the proposed method and, as a byproduct, a new proof of the local convergence of sequential convex programming. The approach is illustrated by an example where RTSCP is applied to nonlinear model predictive control.

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