Active Set Algorithm Applied to Discrete Mechanics and Optimal Control for Constrained Systems

Abstract

Discrete mechanics and optimal control for constrained systems (DMOCC) is a new developed solution for mechanical control. The formulation of DMOCC is attributed to nonlinear equality constraints for the minimization of an appointed cost function. Traditionally, the equations are solved by standard sequential quadratic programming (SQP) algorithm, which suffers for relatively slow convergence speed. In this paper, active set algorithm is introduced to the numerical solution of DMOCC. By comparison of these two algorithms for the example of transferring of the rigid sphere, the efficiency of active set algorithm is validated.