Sequential hierarchical least-squares programming for prioritized non-linear optimal control

We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete non-linear optimal control. It is based on a hierarchical step-filter which resolves each priority level of a non-linear hierarchical least-sq...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:Optimization methods & software Ročník 39; číslo 5; s. 1104 - 1142
Hlavní autoři: Pfeiffer, Kai, Kheddar, Abderrahmane
Médium: Journal Article
Jazyk:angličtina
Vydáno: Abingdon Taylor & Francis 02.09.2024
Taylor & Francis Ltd
Témata:
Algorithms
Bioinformatics
Computer Science
discrete optimal control
filter methods
hierarchical non-linear least-squares programming
Inverse kinematics
Least squares
lexicographical optimization
multi objective optimization
Nonlinear control
Numerical optimization
Optimal control
Quadratic programming
Solvers
sparse nullspace
Lexicographical optimization
Numerical optimization
Multi objective optimization
Sparse nullspace
Filter methods
Hierarchical non-linear least-squares programming
Discrete optimal control
ISSN:1055-6788, 1029-4937
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Abstract We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete non-linear optimal control. It is based on a hierarchical step-filter which resolves each priority level of a non-linear hierarchical least-squares programming via a globally convergent sequential quadratic programming step-filter. Leveraging a condition on the trust-region or the filter initialization, our hierarchical step-filter maintains this global convergence property. The hierarchical least-squares programming sub-problems are solved via a sparse reduced Hessian based interior point method. It leverages an efficient implementation of the turnback algorithm for the computation of nullspace bases for banded matrices. We propose a nullspace trust region adaptation method embedded within the sub-problem solver towards a comprehensive hierarchical step-filter. We demonstrate the computational efficiency of the hierarchical solver on typical test functions like the Rosenbrock and Himmelblau's functions, inverse kinematics problems and prioritized discrete non-linear optimal control.
AbstractList We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete non-linear optimal control. It is based on a hierarchical step-filter which resolves each priority level of a non-linear hierarchical least-squares programming via a globally convergent sequential quadratic programming step-filter. Leveraging a condition on the trust-region or the filter initialization, our hierarchical step-filter maintains this global convergence property. The hierarchical least-squares programming sub-problems are solved via a sparse reduced Hessian based interior point method. It leverages an efficient implementation of the turnback algorithm for the computation of nullspace bases for banded matrices. We propose a nullspace trust region adaptation method embedded within the sub-problem solver towards a comprehensive hierarchical step-filter. We demonstrate the computational efficiency of the hierarchical solver on typical test functions like the Rosenbrock and Himmelblau's functions, inverse kinematics problems and prioritized discrete non-linear optimal control.
Author Pfeiffer, Kai
Kheddar, Abderrahmane
Author_xml – sequence: 1
  givenname: Kai
  surname: Pfeiffer
  fullname: Pfeiffer, Kai
  email: kaipfeifferrobotics@gmail.com
  organization: Nanyang Technological University
– sequence: 2
  givenname: Abderrahmane
  surname: Kheddar
  fullname: Kheddar, Abderrahmane
  organization: University of Montpellier
BackLink https://hal-lirmm.ccsd.cnrs.fr/lirmm-04824994$$DView record in HAL
BookMark eNqFkE9LHTEUxYMo1H8foTDgUuY1ySQzGbqpiK2FB11Ud0K4Ly_xRTKJ3uQp9tM3w9NNF3V174VzLuf8jsh-TNES8pnRBaOKfmFUyn5QasEpFwve0UH0wx45ZJSPrRi7YX_epWxn0SdylPMDpVQw0R-Su9_2aWtj8RCajbcIaDbe1CNYyKXNT1tAm5tHTPcI0-TjfeMS1tsn9MX_seumpmmDjxawSY_FT9VsUiyYwgk5cBCyPX2bx-T2-9XN5XW7_PXj5-XFsjXdIEq7cquey7V1qqdqzYQ0KweMmZFz5RRXIwjm7DCa3g6O28GqfqWosFx20gkK3TE53_3dQNA12gT4qhN4fX2x1MHjNGkqFBfjKJ5ZVZ_t1LVU7Z6LfkhbjDWg7hjvuVCdEFX1dacymHJG67TxBYqfm4EPmlE9w9fv8PUMX7_Br275j_s91ke-bzufjxXzBC8Jw1oXeA0JHUI0fg753xd_AbrmnoU
CitedBy_id crossref_primary_10_3390_su17156684
crossref_primary_10_3390_f15060990
crossref_primary_10_1088_1361_6382_adeb3c
Cites_doi 10.1080/10556780600565489
10.1137/0726007
10.1109/TCST.2009.2017934
10.1137/0608037
10.1090/S0002-9904-1943-07818-4
10.1137/0907079
10.1145/200979.201043
10.1016/j.ejor.2021.05.048
10.1007/BF00927673
10.1080/10556789708805646
10.1080/10556788.2019.1653869
10.1109/TRO.2022.3228390
10.1007/s12532-020-00179-2
10.1007/BF00932858
10.1007/978-3-030-72062-9_29
10.1109/TCST.2023.3234492
10.1007/BF00934527
10.1007/BF01389453
10.1007/s10107-003-0477-4
10.1137/S0036144504446096
10.1080/10556788.2022.2157000
10.1007/s10107-004-0559-y
10.1137/S105262340038081X
10.1109/ROBOT.2009.5152293
10.1177/0278364914521306
10.15607/RSS.2018.XIV.038
10.1109/LRA.2018.2855265
10.1016/j.ifacol.2020.12.073
10.1109/CDC40024.2019.9029262
10.1080/10556788.2013.854357
10.1080/10556788.2016.1200045
10.1007/s11081-023-09823-x
10.1109/CDC49753.2023.10383915
10.1007/s00041-008-9045-x
10.1287/mnsc.3.3.255
10.1080/03052159408941339
10.1080/0305215X.2018.1509960
10.1016/0024-3795(87)90112-1
10.1109/LRA.2020.2976639
10.1007/978-1-4614-7630-6
10.1002/nme.1620181004
ContentType Journal Article
Copyright 2024 Informa UK Limited, trading as Taylor & Francis Group 2024
2024 Informa UK Limited, trading as Taylor & Francis Group
licence_http://creativecommons.org/publicdomain/zero
Copyright_xml – notice: 2024 Informa UK Limited, trading as Taylor & Francis Group 2024
– notice: 2024 Informa UK Limited, trading as Taylor & Francis Group
– notice: licence_http://creativecommons.org/publicdomain/zero
DBID AAYXX
CITATION
7SC
8FD
JQ2
L7M
L~C
L~D
1XC
DOI 10.1080/10556788.2024.2307467
DatabaseName CrossRef
Computer and Information Systems Abstracts
Technology Research Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
Hyper Article en Ligne (HAL)
DatabaseTitle CrossRef
Computer and Information Systems Abstracts
Technology Research Database
Computer and Information Systems Abstracts – Academic
Advanced Technologies Database with Aerospace
ProQuest Computer Science Collection
Computer and Information Systems Abstracts Professional
DatabaseTitleList
Computer and Information Systems Abstracts
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
Computer Science
EISSN 1029-4937
EndPage 1142
ExternalDocumentID oai:HAL:lirmm-04824994v1
10_1080_10556788_2024_2307467
2307467
Genre Research Article
GrantInformation_xml – fundername: Research Project I.AM. through the European Union H2020 Program
  grantid: GA 871899
– fundername: ASTAR IAF-ICP Programme
  grantid: ICP1900093
GroupedDBID .4S
.7F
.DC
.QJ
0BK
0R~
123
29N
30N
4.4
AAENE
AAGDL
AAHIA
AAJMT
AALDU
AAMIU
AAPUL
AAQRR
ABCCY
ABDBF
ABFIM
ABHAV
ABJNI
ABLIJ
ABPAQ
ABPEM
ABTAI
ABXUL
ABXYU
ACGEJ
ACGFS
ACIWK
ACTIO
ACUHS
ADCVX
ADGTB
ADXPE
AEISY
AENEX
AEOZL
AEPSL
AEYOC
AFKVX
AFRVT
AGDLA
AGMYJ
AHDZW
AIJEM
AIYEW
AJWEG
AKBVH
AKOOK
ALMA_UNASSIGNED_HOLDINGS
ALQZU
AMVHM
AQRUH
AQTUD
ARCSS
AVBZW
AWYRJ
BLEHA
CCCUG
CE4
CS3
DGEBU
DKSSO
DU5
EAP
EBS
EDO
EMK
EPL
EST
ESX
E~A
E~B
F5P
GTTXZ
H13
HF~
HZ~
H~P
I-F
IPNFZ
J.P
KYCEM
LJTGL
M4Z
NA5
NY~
O9-
P2P
PQQKQ
RIG
RNANH
ROSJB
RTWRZ
S-T
SNACF
TASJS
TBQAZ
TDBHL
TEJ
TFL
TFT
TFW
TTHFI
TUROJ
TUS
TWF
UT5
UU3
ZGOLN
~S~
AAYXX
CITATION
7SC
8FD
JQ2
L7M
L~C
L~D
1XC
ID FETCH-LOGICAL-c374t-bfb625def8608d145cbfa11c9228f8289a41fe79c6e7f2e7e86b804e2535f40a3
IEDL.DBID TFW
ISICitedReferencesCount 3
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001159530800001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 1055-6788
IngestDate Wed Dec 10 08:48:37 EST 2025
Wed Aug 13 06:53:46 EDT 2025
Sat Nov 29 02:36:07 EST 2025
Tue Nov 18 22:26:19 EST 2025
Mon Oct 20 23:45:43 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 5
Keywords Lexicographical optimization
Numerical optimization
Multi objective optimization
Sparse nullspace
Filter methods
Hierarchical non-linear least-squares programming
Discrete optimal control
Language English
License licence_http://creativecommons.org/publicdomain/zero/: http://creativecommons.org/publicdomain/zero
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c374t-bfb625def8608d145cbfa11c9228f8289a41fe79c6e7f2e7e86b804e2535f40a3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0001-9033-9742
0000-0002-4810-2802
PQID 3126248344
PQPubID 186278
PageCount 39
ParticipantIDs informaworld_taylorfrancis_310_1080_10556788_2024_2307467
proquest_journals_3126248344
crossref_citationtrail_10_1080_10556788_2024_2307467
crossref_primary_10_1080_10556788_2024_2307467
hal_primary_oai_HAL_lirmm_04824994v1
PublicationCentury 2000
PublicationDate 2024-09-02
PublicationDateYYYYMMDD 2024-09-02
PublicationDate_xml – month: 09
  year: 2024
  text: 2024-09-02
  day: 02
PublicationDecade 2020
PublicationPlace Abingdon
PublicationPlace_xml – name: Abingdon
PublicationTitle Optimization methods & software
PublicationYear 2024
Publisher Taylor & Francis
Taylor & Francis Ltd
Publisher_xml – name: Taylor & Francis
– name: Taylor & Francis Ltd
References e_1_3_2_28_1
Nocedal J. (e_1_3_2_37_1) 2006
e_1_3_2_49_1
e_1_3_2_20_1
e_1_3_2_41_1
e_1_3_2_22_1
e_1_3_2_43_1
e_1_3_2_24_1
e_1_3_2_45_1
e_1_3_2_26_1
e_1_3_2_47_1
Broyden C.G. (e_1_3_2_6_1) 1970; 6
e_1_3_2_16_1
e_1_3_2_39_1
e_1_3_2_9_1
e_1_3_2_18_1
e_1_3_2_7_1
e_1_3_2_31_1
e_1_3_2_33_1
e_1_3_2_52_1
e_1_3_2_35_1
e_1_3_2_5_1
e_1_3_2_14_1
e_1_3_2_3_1
Cococcioni M. (e_1_3_2_10_1) 2018; 318
e_1_3_2_50_1
e_1_3_2_27_1
e_1_3_2_29_1
e_1_3_2_42_1
e_1_3_2_21_1
e_1_3_2_44_1
e_1_3_2_23_1
e_1_3_2_46_1
e_1_3_2_25_1
e_1_3_2_48_1
e_1_3_2_40_1
Dang T.V. (e_1_3_2_12_1) 2017; 50
e_1_3_2_17_1
e_1_3_2_38_1
e_1_3_2_8_1
e_1_3_2_19_1
e_1_3_2_2_1
e_1_3_2_30_1
e_1_3_2_11_1
e_1_3_2_32_1
e_1_3_2_13_1
e_1_3_2_34_1
e_1_3_2_4_1
e_1_3_2_15_1
e_1_3_2_36_1
e_1_3_2_51_1
References_xml – volume-title: Numerical Optimization
  year: 2006
  ident: e_1_3_2_37_1
– ident: e_1_3_2_9_1
  doi: 10.1080/10556780600565489
– ident: e_1_3_2_22_1
  doi: 10.1137/0726007
– ident: e_1_3_2_50_1
  doi: 10.1109/TCST.2009.2017934
– volume: 50
  start-page: 13170
  year: 2017
  ident: e_1_3_2_12_1
  article-title: Banded null basis and ADMM for embedded MPC
  publication-title: IFAC-Pap.
– ident: e_1_3_2_19_1
  doi: 10.1137/0608037
– ident: e_1_3_2_11_1
  doi: 10.1090/S0002-9904-1943-07818-4
– ident: e_1_3_2_13_1
– ident: e_1_3_2_28_1
  doi: 10.1137/0907079
– ident: e_1_3_2_5_1
  doi: 10.1145/200979.201043
– ident: e_1_3_2_52_1
  doi: 10.1016/j.ejor.2021.05.048
– ident: e_1_3_2_27_1
  doi: 10.1007/BF00927673
– volume: 318
  start-page: 298
  year: 2018
  ident: e_1_3_2_10_1
  article-title: Lexicographic multi-objective linear programming using grossone methodology: Theory and algorithm
  publication-title: Appl. Math. Comput.
– ident: e_1_3_2_29_1
  doi: 10.1080/10556789708805646
– ident: e_1_3_2_26_1
  doi: 10.1080/10556788.2019.1653869
– ident: e_1_3_2_36_1
  doi: 10.1109/TRO.2022.3228390
– ident: e_1_3_2_44_1
  doi: 10.1007/s12532-020-00179-2
– volume: 6
  start-page: 76
  year: 1970
  ident: e_1_3_2_6_1
  article-title: The convergence of a class of double-rank minization algorithms
  publication-title: J. Math. Appl.
– ident: e_1_3_2_25_1
  doi: 10.1007/BF00932858
– ident: e_1_3_2_33_1
  doi: 10.1007/978-3-030-72062-9_29
– ident: e_1_3_2_34_1
– ident: e_1_3_2_3_1
– ident: e_1_3_2_38_1
  doi: 10.1109/TCST.2023.3234492
– ident: e_1_3_2_43_1
  doi: 10.1007/BF00934527
– ident: e_1_3_2_4_1
  doi: 10.1007/BF01389453
– ident: e_1_3_2_47_1
  doi: 10.1007/s10107-003-0477-4
– ident: e_1_3_2_20_1
  doi: 10.1137/S0036144504446096
– ident: e_1_3_2_2_1
  doi: 10.1080/10556788.2022.2157000
– ident: e_1_3_2_49_1
  doi: 10.1007/s10107-004-0559-y
– ident: e_1_3_2_16_1
  doi: 10.1137/S105262340038081X
– ident: e_1_3_2_31_1
  doi: 10.1109/ROBOT.2009.5152293
– ident: e_1_3_2_41_1
– ident: e_1_3_2_14_1
  doi: 10.1177/0278364914521306
– ident: e_1_3_2_8_1
  doi: 10.15607/RSS.2018.XIV.038
– ident: e_1_3_2_39_1
  doi: 10.1109/LRA.2018.2855265
– ident: e_1_3_2_24_1
– ident: e_1_3_2_17_1
  doi: 10.1016/j.ifacol.2020.12.073
– ident: e_1_3_2_51_1
  doi: 10.1109/CDC40024.2019.9029262
– ident: e_1_3_2_46_1
– ident: e_1_3_2_15_1
  doi: 10.1080/10556788.2013.854357
– ident: e_1_3_2_18_1
  doi: 10.1080/10556788.2016.1200045
– ident: e_1_3_2_40_1
  doi: 10.1007/s11081-023-09823-x
– ident: e_1_3_2_42_1
  doi: 10.1109/CDC49753.2023.10383915
– ident: e_1_3_2_7_1
  doi: 10.1007/s00041-008-9045-x
– ident: e_1_3_2_35_1
  doi: 10.1287/mnsc.3.3.255
– ident: e_1_3_2_32_1
  doi: 10.1080/03052159408941339
– ident: e_1_3_2_45_1
  doi: 10.1080/0305215X.2018.1509960
– ident: e_1_3_2_21_1
  doi: 10.1016/0024-3795(87)90112-1
– ident: e_1_3_2_23_1
  doi: 10.1109/LRA.2020.2976639
– ident: e_1_3_2_48_1
  doi: 10.1007/978-1-4614-7630-6
– ident: e_1_3_2_30_1
  doi: 10.1002/nme.1620181004
SSID ssj0004146
Score 2.3819108
Snippet We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete...
SourceID hal
proquest
crossref
informaworld
SourceType Open Access Repository
Aggregation Database
Enrichment Source
Index Database
Publisher
StartPage 1104
SubjectTerms Algorithms
Bioinformatics
Computer Science
discrete optimal control
filter methods
hierarchical non-linear least-squares programming
Inverse kinematics
Least squares
lexicographical optimization
multi objective optimization
Nonlinear control
Numerical optimization
Optimal control
Quadratic programming
Solvers
sparse nullspace
Title Sequential hierarchical least-squares programming for prioritized non-linear optimal control
URI https://www.tandfonline.com/doi/abs/10.1080/10556788.2024.2307467
https://www.proquest.com/docview/3126248344
https://hal-lirmm.ccsd.cnrs.fr/lirmm-04824994
Volume 39
WOSCitedRecordID wos001159530800001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVAWR
  databaseName: Taylor & Francis
  customDbUrl:
  eissn: 1029-4937
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0004146
  issn: 1055-6788
  databaseCode: TFW
  dateStart: 19920101
  isFulltext: true
  titleUrlDefault: https://www.tandfonline.com
  providerName: Taylor & Francis
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1LSwMxEA5aPOjBt1itkkOv0X2km-RYxNKDiGDFHoSw2U2w0Idutz34652k2VoR6UFPS2AnySaZSb7sNzMINVVocqp5SHLVygkF-0dSwNiEGSGYjqkItHLJJtj9Pe_3xYNnE049rdJiaLMIFOFstVXuVE0rRty1y-kI0A3QXUQdkxm0HawwnOwtqa_Xef7yjPT-RSBBrEjlw_NbLd92p81Xx41cjWD6w2K7baiz9w8fsI92_RkUtxeL5gBt6PEh2lmJTHiEXh4dxRrUf4httmz3vwGmEw9trh8yfZ9ZvyXs2V0jkMHQfSgPJjZK0ofO8XgyJrZvaYEnYJdGIOx58cfoqXPbu-kSn4iBZDGjJVFGAUzKteFJwPOQtjJl0jDMRBRxYyFbSkOjmcgSzUykmeaJ4gHVUStuGRqk8QmqQaP6FGHAj0YEecyDVAFWgmeQKQZDYGKuE5bUEa0mQGY-SrlNljGUoQ9mWg2etIMn_eDV0dVS7G0RpmOdQBNmd_muDbLdbd_J4aAYjSRYNUClgs7DOhKr0y9Ld41iFjlPZLymiUa1VqQ3DFYkSiJ7gUvP_lD1Odq2Rcd1ixqoVhYzfYG2snk5mBaXTgU-AeKPAQU
linkProvider Taylor & Francis
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV3dT9swED8NhjR4YIOBKOsgD3015MON7UeEVnVa1xc6wQOSFSe2qNQPaAsP_PXcuQ4UoYmH7SmKknOcO_ucn_O7O4CWSVzFrUxYZdoV4-j_WIEYmwmnlLAZV7E1vtiE6Pfl1ZVajYUhWiVhaLdMFOF9NU1u2oyuKXGnvqgjYjeEdyn3VGac7mvwkarTEQAbdC5fYiNDhBGKMJKpo3j-1syr9WntxrMjV3OYvvHZfiHqfP4fr_AFtsNnaHS2HDc78MFOdmFrJTnhV7i-8Cxr9ACjiApm-18OaNFoROV-2PzunkKXokDwGqNMhP3H8-GUEiU92iqaTCeMOlfMoim6pjEKB2r8Hvzp_Bicd1moxcDKTPAFM84gUqqsk3ksq4S3S-OKJClVmkpHqK3gibNClbkVLrXCytzImNu0nbUdj4tsH9bxofYAIoSQTsVVJuPCIFzCY1wagSpwmbS5yBvAawvoMiQqp3oZI52EfKa18jQpTwflNeDkWex2manjPYEWmvf5Xsqz3T3r6dFwNh5rdGwITBV_SBqgVu2vF34nxS3LnujsnUc068Gig28gkTRPaQ-XH_5D08fwqTv43dO9n_1f32CTLnnqW9qE9cXs3n6HjfJhMZzPjvx8eAIX3gUo
linkToPdf http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1LS8QwEB58IXrwLa7PHrxG-0ib5Lioi-KyCCp6EELTJriwD91dPfjrnWRTXRHxoKdS2knSTGaSL_0yA3CoIlNSzSNSqrQkFP0fyRFjE2aEYDqhItTKJZtgrRa_vxdXnk049LRKi6HNOFCE89XWuJ9KUzHijl1OR4RuiO5i6pjMaO3TMItL59QO7JvG3efRSH_ACEWIlakO8fxUzJfpafrRkSMnQ5h-c9luHmos_8MXrMCSX4QG9fGoWYUp3VuDxYnQhOvwcO041mj_ncCmy3Y_HFCfQccm-yHD5xd7cCnw9K4uygTYfLxv922YpDddBr1-j9i25YOgj46pi8KeGL8Bt42zm5Nz4jMxkCJhdESUUYiTSm14FvIyommhTB5FhYhjbixmy2lkNBNFppmJNdM8UzykOk6T1NAwTzZhBivVWxAggDQiLBMe5grBEl7DQjHsApNwnbGsBrRSgCx8mHKbLaMjIx_NtOo8aTtP-s6rwdGH2NM4TsdvAoeo3Y93bZTt83pTdtqDbleiW0NYKuhrVAMxqX45cvsoZpz0RCa_VLFbjRXpPYMVibPY7uDS7T8UfQDzV6cN2bxoXe7Agn3ieG_xLsyMBi96D-aK11F7ONh31vAO-HYD2g
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Sequential+hierarchical+least-squares+programming+for+prioritized+non-linear+optimal+control&rft.jtitle=Optimization+methods+%26+software&rft.au=Pfeiffer%2C+Kai&rft.au=Kheddar%2C+Abderrahmane&rft.date=2024-09-02&rft.pub=Taylor+%26+Francis&rft.issn=1055-6788&rft.eissn=1029-4937&rft.volume=39&rft.issue=5&rft.spage=1104&rft.epage=1142&rft_id=info:doi/10.1080%2F10556788.2024.2307467&rft.externalDBID=HAS_PDF_LINK&rft.externalDocID=oai%3AHAL%3Alirmm-04824994v1
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1055-6788&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1055-6788&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1055-6788&client=summon