DocumentCode
2987284
Title
On trajectory optimization for polynomial systems via series expansions
Author
Bullo, Francesco ; Cerven, W. Todd
Author_Institution
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Volume
1
fYear
2000
fDate
2000
Firstpage
772
Abstract
We present algorithms for the design of feasible and optimal trajectories of nonlinear control systems. We focus on stable polynomial control systems linear in the controls. We prove existence of local solutions near the minimum energy control for the linearized system and we investigate provably convergent iterative schemes. Finally, we formulate the trajectory optimization problem as a low dimensional nonlinear program
Keywords
control nonlinearities; nonlinear control systems; nonlinear programming; optimal control; optimisation; series (mathematics); stability; local solutions; low dimensional nonlinear program; minimum energy control; provably convergent iterative schemes; series expansions; stable polynomial control systems; trajectory optimization; Algorithm design and analysis; Control systems; Iterative algorithms; Medical robotics; Mobile robots; Nonlinear control systems; Open loop systems; Polynomials; Remotely operated vehicles; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2000.912862
Filename
912862
Link To Document