Towards Real-Time Computation of Optimal Controls for Nonlinear Systems
Ross, I. Michael
MetadataShow full item record
Computing optimal controls for nonlinear nonsmooth dynamical systems is an extremely challenging task. In recent years, we introduced a family of Pseudospectral methods for the accurate computation of optimal controls for highly nonlinear systems. While these methods are applicable for generic nonlinear systems, they can also be exploited for systems that exhibit certain differential-geometric properties. These techniques are encoded in the reusable software package, DIDO. In this paper, we harness the structured sparsity of Pseudospectral methods and show that a significant increase in computation speed can be achieved. This facilitates a rapid design of the outer-loop of a two-degree-of-freedom control system. We demonstrate the viability of our approach for several example problems involving smooth nonlinearities, path constraints and control saturation limits.
The article of record as published may be located at http://dx.doi.org/10.2514/6.2002-4945Approved for public display, distribution unlimitedProceedings of AIAA Guidance, Navigation, and Control Conference ; Paper no. AIAA-2002-4945, Monterey, California, Aug. 5-8, 2002
Showing items related by title, author, creator and subject.
Lewis, Peter A. W.; Ressler, Richard L. (Monterey, California. Naval Postgraduate School, 1990-04); NPS-55-90-09Linear controls are a well known simple technique for achieving variance reduction in computer simulation. Unfortunately the effectiveness of a linear control depends upon the correlation between the statistic of interest ...
Ross, I. Michael; Sekhavat, Pooya; Fleming, Andrew; Gong, Qi (The American Institute of Aeronautics and Astronautics (AIAA), 2006-08-21);Suppose optimal open-loop controls could be computed in real time. This implies optimal feedback control. These controls are, typically, nonsmooth. Nonsmooth controls raise fundamental theoretical problems on the existence ...
Cascio, Joseph A. (Monterey, California. Naval Postgraduate School, 2008-12);This work investigates the problem of robotic arm control with the goal of achieving given performance requirements by solving for the optimal joint trajectories and corresponding controls for tasks, such as point-to-point ...