An SQP method for equality constrained optimization on manifolds

We extend the class of SQP methods for equality constrained optimization to the setting of differentiable manifolds. The use of retractions and stratifications allows us to pull back the involved mappings to linear spaces. We study local quadratic convergence to minimizers. In addition we present a composite step method for globalization based on cubic regularization of the objective function and affine covariant damped Newton method for feasibility. We show transition to fast local convergence of this scheme. We test our method on equilibrium problems in finite elasticity where the stable equilibrium position of an inextensible transversely isotropic elastic rod under dead load is sought.