Direct method for real-time prototyping of optimal control
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Authors
Yakimenko, Oleg A.
Subjects
optimal control
real-time control
aerospace and aeronautical applications
real-time control
aerospace and aeronautical applications
Advisors
Date of Issue
2006
Date
Publisher
Language
Abstract
This paper addresses the problem of real-time generation of near-optimal control for nonlinear plants. It advocates using the direct method of calculus of variations based on a priory approximation of the optimal solution by appropriate reference functions depending on several variable parameters and then applying inverse dynamics to determine the corresponding controls. The paper reviews general ideas of such an approach and provides with two detailed examples baased on recent graduate students' projects. These include a standard inverted pendulum control and a more complex problem aimed on the development of algorithms for cooperative collision-free control of multiple agents.
Type
Article
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Naval Postgraduate School (U.S.)
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NPS Report Number
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Format
Citation
2006 USTARTH, ID190
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.