TY - CHAP A1 - Kiessling, David A1 - Vanaret, Charlie A1 - Astudillo, Alejandro A1 - Decré, Wilm A1 - Swevers, Jan T1 - An Almost Feasible Sequential Linear Programming Algorithm T2 - European Control Conference 2024 N2 - This paper proposes an almost feasible Sequential Linear Programming (afSLP) algorithm. In the first part, the practical limitations of previously proposed Feasible Sequential Linear Programming (FSLP) methods are discussed along with illustrative examples. Then, we present a generalization of FSLP based on a tolerance-tube method that addresses the shortcomings of FSLP. The proposed algorithm afSLP consists of two phases. Phase I starts from random infeasible points and iterates towards a relaxation of the feasible set. Once the tolerance-tube around the feasible set is reached, phase II is started and all future iterates are kept within the tolerance-tube. The novel method includes enhancements to the originally proposed tolerance-tube method that are necessary for global convergence. afSLP is shown to outperform FSLP and the state-of-the-art solver IPOPT on a SCARA robot optimization problem. Y1 - 2024 ER -