A Direct Method for Solving Nonsmooth Optimal Control Problems
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Authors
Ross, I. Michael
Fahroo, Fariba
Subjects
Optimal control
discontinuities
discretization
nonlinear programming
discontinuities
discretization
nonlinear programming
Advisors
Date of Issue
2002
Date
2002
Publisher
International Federation of Automatic Control
Language
Abstract
We present a class of efficient direct methods for solving nonsmooth dynamic optimization problems where the dynamics are governed by controlled differential
inclusions. Our methods are based on pseudospectral approximations of the differential constraints that are assumed to be given in the form of controlled differential
inclusions including the usual vector field and differential-algebraic forms. Discontinuities in states, controls, cost functional dynamic constraints and various
other mappings associated with the generalized Bolza problem are allowed by the concept of pseudospectral knots which we introduce in this paper. The computational
optimal control problem is reduced to a structured sparse nonlinear programming problem. A simple but illustrative moon-landing problem demonstrates our method.
Type
Conference Paper
Description
15th Triennial World Congress, Barcelona, Spain 2002 IFAC
Series/Report No
Department
Department of Aeronautics and Astronautics
Mathematics
Organization
Naval Postgraduate School (U.S.)
International Federation of Automatic Control
Identifiers
NPS Report Number
Sponsors
Funder
NA
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.