2009年11月
STATE WAYPOINT APPROACH TO CONTINUOUS-TIME NONLINEAR OPTIMAL CONTROL PROBLEMS
ASIAN JOURNAL OF CONTROL
- ,
- ,
- 巻
- 11
- 号
- 6
- 開始ページ
- 669
- 終了ページ
- 676
- 記述言語
- 英語
- 掲載種別
- DOI
- 10.1002/asjc.148
- 出版者・発行元
- WILEY-BLACKWELL
In this paper, we propose an optimal control technique for a class of continuous-time nonlinear systems. The key idea of the proposed approach is to parametrize continuous state trajectories by sequences of a finite number of intermediate target states; namely, waypoint sequences. It is shown that the optimal control problem for transferring the state from one waypoint to the next is given an explicit-form suboptimal solution, by means of linear approximation. Thus the original continuous-time nonlinear control problem reduces to a finite-dimensional optimization problem of waypoint sequences. Any efficient numerical optimization method, such as the interior-reflection Newton method, can be applied to solve this optimization problem. Finally, we solve the optimal control problem for a simple nonlinear system example to illustrate the effectiveness of this approach.
- リンク情報
- ID情報
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- DOI : 10.1002/asjc.148
- ISSN : 1561-8625
- Web of Science ID : WOS:000271981700009