Title :
Solving optimal control problems with state constraints using nonlinear programming and simulation tools
Author :
Becerra, Victor M.
Author_Institution :
U.K. Dept. of Cybern., Univ. of Reading, UK
Abstract :
This paper illustrates how nonlinear programming and simulation tools, which are available in packages such as MATLAB and SIMULINK, can easily be used to solve optimal control problems with state- and/or input-dependent inequality constraints. The method presented is illustrated with a model of a single-link manipulator. The method is suitable to be taught to advanced undergraduate and Master´s level students in control engineering.
Keywords :
control engineering computing; control engineering education; nonlinear programming; optimal control; MATLAB; SIMULINK; control engineering; master level students; nonlinear programming; optimal control; simulation tools; single-link manipulator; state constraints; Constraint optimization; Control engineering; Cybernetics; Helium; MATLAB; Manipulator dynamics; Mathematical model; Optimal control; Packaging; Programming profession; Input constraints; nonlinear programming; optimal control; simulation; state constraints;
Journal_Title :
Education, IEEE Transactions on
DOI :
10.1109/TE.2004.825925
