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.
rotations
Differential-algebraic equations (DAEs)
optimal control
invariants
periodicity constraints
Författare
Sébastien Gros
Chalmers, Elektroteknik, System- och reglerteknik
Mario Zanon
Chalmers, Elektroteknik, System- och reglerteknik
Publicerad i
IEEE Transactions on Automatic Control
0018-9286 (ISSN) 1558-2523 (eISSN)
Vol. 63 Nummer/häfte 9 s. 2818-2832 art. nr 8107571Kategorisering
Styrkeområden
Informations- och kommunikationsteknik
Ämneskategorier (SSIF 2011)
Matematik
Identifikatorer
DOI
10.1109/TAC.2017.2772039