• Corpus ID: 119136414

Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems

  title={Successive Convexification: A Superlinearly Convergent Algorithm for Non-convex Optimal Control Problems},
  author={Yuanqi Mao and Michael Szmuk and Xiangru Xu and Behçet Açikmese},
  journal={arXiv: Optimization and Control},
This paper presents the SCvx algorithm, a successive convexification algorithm designed to solve non-convex optimal control problems with global convergence and superlinear convergence-rate guarantees. The proposed algorithm handles nonlinear dynamics and non-convex state and control constraints by linearizing them about the solution of the previous iterate, and solving the resulting convex subproblem to obtain a solution for the current iterate. Additionally, the algorithm incorporates several… 

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