Direct method for real-time prototyping of optimal control
Yakimenko, Oleg A.
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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.
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