Computation of time optimal controls by gradient matching

Time optimal control of nonlinear systems is considered. To find the optimal horizon, a sequence of fixed-horizon problems of minimizing an auxiliary cost functional is solved by gradient methods, with the use of adjoint trajectories. Basically, the control switching times are decision variables. Th...

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Bibliographic Details
Main Authors: Szymkat, M., Korytowski, A., Turnau, A.
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Boundary conditions
Cost function
Differential equations
Electrical equipment industry
Nonlinear systems
Optimal control
Orbital robotics
Robot sensing systems
Service robots
Online Access:Request full text
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Summary:Time optimal control of nonlinear systems is considered. To find the optimal horizon, a sequence of fixed-horizon problems of minimizing an auxiliary cost functional is solved by gradient methods, with the use of adjoint trajectories. Basically, the control switching times are decision variables. The proposed computational methods of search for optimal horizon are based on an estimation-continuation strategy. The approach proved effective in the case of a cart-pendulum system.
DOI:10.1109/CACSD.1999.808675