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State waypoint approach to continuous-time nonlinear optimal control problems

Honarvarmahjoobin, M. H ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1002/asjc.148
  3. Publisher: 2009
  4. Abstract:
  5. 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 stale 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. © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
  6. Keywords:
  7. Optimal control ; Continuous time ; Continuous time nonlinear systems ; Finite number ; Linear approximations ; Newton methods ; Non-linear optimal control ; Nonlinear control problems ; Numerical optimizations ; Optimal control problem ; Optimal control technique ; Optimal controls ; Optimization problems ; Real-time optimization ; Suboptimal solution ; Target state ; Waypoints ; Newton-Raphson method ; Nonlinear control systems ; Nonlinear systems ; Optimization ; Real time systems ; Continuous time systems
  8. Source: Asian Journal of Control ; Volume 11, Issue 6 , 2009 , Pages 669-676 ; 15618625 (ISSN)
  9. URL: https://onlinelibrary.wiley.com/doi/abs/10.1002/asjc.148