Constraint Handling in Continuous-Time DDP-Based Model Predictive Control
Jean-Pierre Sleiman Farbod Farshidian Marco Hutter Jean-Pierre Sleiman Farbod Farshidian Marco Hutter
The Sequential Linear Quadratic (SLQ) algorithm is a continuous-time version of the well-known Differential Dynamic Programming (DDP) technique with a Gauss-Newton Hessian approximation. This family of methods has gained popularity in the robotics community due to its efficiency in solving complex trajectory optimization problems. However, one major drawback of DDP-based formulations is their inab...