Towards Real-Time Computation of Optimal Controls for Nonlinear Systems
Ross, I. Michael
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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/10.2514/6.2002-4945Proceedings of AIAA Guidance, Navigation, and Control Conference ; Paper no. AIAA-2002-4945, Monterey, California, Aug. 5-8, 2002
RightsThis 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.
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