Exploiting Micro-Structure in the Generalized Riccati Recursion for Optimal Control
Optimal Control Problems (OCPs) have been applied to a variety of applications. Such problems are often transcribed into a Nonlinear Program (NLP) for which solution methods typically solve a Linear Quadratic (LQ) subproblem. To efficiently solve this LQ subproblem, the Riccati recursion exploits the block-diagonal structure that arises from discretizing an OCP using a Multiple Shooting method. However, reformulating general dynamics constraints to fit the required problem structure to use the Riccati recursion introduces additional micro-structure within these block matrices that remains unexploited. This work demonstrates how structure-exploiting solvers such as Fatrop can benefit from exploiting not only the block-diagonal structure but also the micro-structure within those blocks. We propose a structure-exploiting LU decomposition algorithm and integrate it within the Riccati recursion. Numerical results on randomized linear systems and two OCP examples demonstrate a reduction in computation time of the search direction of up to 20%, with the largest speedup observed for relative zero block sizes around 0.25 and large stage-wise equality constraint jacobians.