Numerical Optimal Control with Periodicity Constraints in the Presence of Invariants
Journal article, 2018

Periodic optimal control problems (POCPs) based on dynamic models holding invariants are challenging due to possible failure of standard constraint qualifications. This paper analyses this issue and proposes three simple and computationally inexpensive modifications of the formulation that allow for a recovery of Linear Independence Constraint Qualification, while preserving the Second-Order Sufficient Conditions for optimality. The resulting POCP can be tackled via standard solvers. Application is detailed for the case of POCPs holding index-reduced DAEs and representations of the SO (3) Lie group.

invariants

optimal control

rotations

Differential-algebraic equations (DAEs)

periodicity constraints

Author

Sébastien Gros

Chalmers, Electrical Engineering, Systems and control, Automatic Control

Mario Zanon

Chalmers, Electrical Engineering, Systems and control, Mechatronics

IEEE Transactions on Automatic Control

0018-9286 (ISSN)

Vol. 63 9 2818-2832 8107571

Areas of Advance

Information and Communication Technology

Subject Categories

Mathematics

DOI

10.1109/TAC.2017.2772039

More information

Latest update

9/17/2018