Newton-PIPG: A Fast Hybrid Algorithm for Quadratic Programs in Optimal Control

Abstract

We propose Newton-PIPG, an efficient method for solving quadratic programming (QP) problems arising in optimal control, subject to additional set constraints. Newton-PIPG integrates the Proportional-Integral Projected Gradient (PIPG) method with the Newton method, thereby achieving both global convergence and local quadratic convergence. The PIPG method, an operator-splitting algorithm, seeks a fixed point of the PIPG operator. Under mild assumptions, we demonstrate that this operator is locally smooth, enabling the application of the Newton method to solve the corresponding nonlinear fixed-point equation. Furthermore, we prove that the linear system associated with the Newton method is locally nonsingular under strict complementarity conditions. To enhance efficiency, we design a specialized matrix factorization technique that leverages the typical sparsity of optimal control problems in such systems. Numerical experiments demonstrate that Newton-PIPG achieves high accuracy and reduces computation time, particularly when feasibility is easily guaranteed.