Title :
A Barrier Function Method for the Optimization of Trajectory Functionals with Constraints
Author :
Hauser, John ; Saccon, Alessandro
Author_Institution :
Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO
Abstract :
We develop a barrier function method for the optimization of trajectory functionals with constraints. An approximate or relaxed barrier function is used to incorporate the trajectory constraints into an unconstrained trajectory functional that is minimized using a projection operator based Newton method. The proposed approach is a natural extension to infinite dimensions of the barrier function interior point method in convex optimization. The effectiveness of the approach is illustrated with minimum time optimal control problems under differing constraints
Keywords :
Newton method; constraint theory; convex programming; optimal control; Banach manifolds; Newton method; barrier function method; convex optimization; differing constraints; infinite dimensions; minimum time optimal control problems; nonlinear optimal control; nonlinear projection operator; trajectory constraints; trajectory functional; trajectory optimization; Constraint optimization; Feedback; Minimization methods; Newton method; Nonlinear dynamical systems; Optimal control; Optimization methods; Trajectory; USA Councils; Writing; Banach manifolds; Newton methods; constraints; nonlinear optimal control; nonlinear projection operator; trajectory manifold; trajectory optimization;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377331
