Efficient Implementation of Rate Constraints for Nonlinear Optimal Control

We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the solution of this on-mesh implementation has better properties. M...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2021-01, Vol.66 (1), p.329-334
Main Authors: Nie, Yuanbo, Kerrigan, Eric C.
Format: Article
Language:English
Subjects:
Aerodynamics
Boundary conditions
Collocation methods
direct collocation method
Input variables
Mathematical model
Nonlinear control
Optimal control
rate constraints
singular control
Splines (mathematics)
Trajectory
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Summary:We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the solution of this on-mesh implementation has better properties. Moreover, computational speedups of more than 30% can be achieved by exploiting the properties of the resulting linear constraint equations.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2020.2976051