A Unified Computational Framework for Real-Time Optimal Control , IEEE (42nd; 2003; Maui, Hawaii)
Loading...
Authors
Ross, I. Michael
Fahroo, Fariba
Subjects
Multi-agent controlled dynamical system, Optimal control, Control Systems
Advisors
Date of Issue
2003-12-01
Date
Dec-03
Publisher
IEEE
Language
Abstract
The dynamics of each agent of a multi-agent controlled dynamical system can be formulated in several possible ways: differential inclusion, flatness parameterization, higher-order inclusions and so on. A plethora of techniques have been proposed for each of these formulations but they are typically not portable across equivalent mathematical formulations. Further complications arise as a result of path constraints such as those imposed by obstacle avoidance or control saturation. In this paper, we present a unified computational framework based on pseudospectral methods to handle the optimal control of dynamical systems where the description of the governing equations or that of the path constraint is not a limitation. We illustrate our ideas by way of multiple formulations of a flexible link manipulator problem that includes a differentially flat formulation subject to control saturation. A comparison of our approach to a recent method reveals that we get an almost 30% improvement in the cost. Our results also show that equivalent mathematical formulations can yield varying run times leading to some surprising questions on flatness parameterization for real-time computation.
Type
Conference Paper
Description
The article of record as published may be located at http://ieeexplore.ieee.org
Proceedings of the 42nd IEEE ; Conference on Decision and Control ; Maui, Hawaii USA, December 2003
Proceedings of the 42nd IEEE ; Conference on Decision and Control ; Maui, Hawaii USA, December 2003
Series/Report No
Department
Applied Mathematics
Organization
Mechanical and Aerospace Engineering (MAE)
Graduate School of Engineering and Applied Science (GSEAS)
Naval Postgraduate School (U.S.)
IEEE
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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.