An Efficient iLQR Algorithm for Optimal Control with Bounded States and Inputs: Application to Spacecraft Maneuvers

Abstract

This paper presents a constrained iterative Linear Quadratic Regulator (Box-iLQR) method for nonlinear aerospace optimal-control problems with bounded states and controls. Logarithmic barrier functions are used with a two-fold objective: the barrier parameter is reduced toward zero to recover the constrained optimal trajectory, while a finite barrier is retained to construct a smooth, constraint-aware feedback policy for closed-loop operation. The method is demonstrated on spacecraft attitude control, a minimum-fuel planar orbit transfer, and an L2 to L2 halo-orbit transfer. Box-iLQR respects the imposed constraints and produces nominal trajectories together with time-varying feedback policies. Closed-loop simulations under disturbance, measurement noise, and control uncertainty show substantial reductions in terminal error. These results demonstrate that Box-iLQR provides both high-accuracy constrained trajectory optimization and practical constraint-aware feedback within a single framework.