Numerical Optimal Control with Periodicity Constraints in the Presence of Invariants
Artikel i vetenskaplig tidskrift, 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.