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:arXiv.org 2020-02
Main Authors: Nie, Yuanbo, Kerrigan, Eric
Format: Article
Language:English
Subjects:
Collocation methods
Nonlinear control
Optimal control
Online Access:Get full text
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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:2331-8422
DOI:10.48550/arxiv.1903.05508