Second-order constrained dynamic optimization

Yuichiro Aoyama, Oswin So, Augustinos D. Saravanos, Evangelos A. Theodorou, School of Aerospace Engineering, Georgia Institute of Technology, Development Division, Komatsu Ltd, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology

The International Journal of Robotics Research

Published online on March 20, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
This paper provides an overview, analysis, and comparison of second-order dynamic optimization algorithms, that is, constrained differential dynamic programming (DDP) and sequential quadratic programming (SQP). Although a variety of these algorithms have ...