mutil MATLAB Utilities for Trajectory Optimization

See example implementations provided at https://github.com/purnanandelango/ct-scvx

scp Successive Convexification with Continuous-Time Constraint Satisfaction

• scp.ctscvx_[...]_handparse_noparam

disc Discretization and Parameterization

• First-order hold (FOH)
• Zero-order hold (ZOH)
• Finite-burn pulse (FBP)
• Impulse

plant System Model

• Double integrator with drag
• 6-DoF rocket with drag

solvers Conic Optimization Solver

• pipg Extrapolated Proportional Integral Projected Gradient Method

Requirements for node-only-constrained trajectory optimization

• YALMIP
• Conic optimization solvers
  • QP: OSQP, PIQP
  • SOCP: ECOS, Gurobi, MOSEK