Constrained trajectory optimization on matrix Lie groups via Lie-algebraic differential dynamic programming

DOI10.1016/J.SYSCONLE.2025.106220MaRDI QIDQ6930722zbMATH OpenFDO

Authors Gokhan Alcan, Fares J. abu-Dakka, Ville Kyrki

Publication date 12 September 2025

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.SYSCONLE.2025.106220

zbMATH Keywords

constrained optimizationdifferential dynamic programminggeometric controlmatrix Lie groupstrajectory optimization

Mathematics Subject Classification ID

Applications of Lie groups to the sciences; explicit representations (22E70) Dynamic programming (90C39) Geometric methods (93B27)

Review text

This paper introduces a geometrically grounded control framework based on an augmented Lagrangian formulation of constrained Differential Dynamic Programming within the setting of matrix Lie groups. A key strength lies in the seamless integration of automatic differentiation and discrete-time Lie-group dynamics, ensuring manifold consistency without reliance on specialized derivatives. The proposed constraint-handling strategy, formulated in the error-state space, enhances robustness and addresses feasibility and active-set issues that often limit existing methods. Methodologically, the approach demonstrates strong generality, extending beyond rigid-body systems to underactuated and deformable dynamics. The experimental validation is comprehensive, covering scenarios from rigid body dynamics to quadrotor control and planar deformation, and includes performance comparisons with established solvers. The manuscript is well-structured, guiding the reader from theoretical preliminaries to practical implementation and evaluation. Overall, the work represents a meaningful advancement in constrained trajectory optimization on nonlinear manifolds, with clear implications for broader applications in geometric control.

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