Title :
Computation of time optimal controls by gradient matching
Author :
Szymkat, M. ; Korytowski, A. ; Turnau, A.
Author_Institution :
Dept. of Autom., St. Staszic Tech. Univ., Krakow, Poland
Abstract :
Time optimal control of nonlinear systems is considered. To find the optimal horizon, a sequence of fixed-horizon problems of minimizing an auxiliary cost functional is solved by gradient methods, with the use of adjoint trajectories. Basically, the control switching times are decision variables. The proposed computational methods of search for optimal horizon are based on an estimation-continuation strategy. The approach proved effective in the case of a cart-pendulum system
Keywords :
control system analysis computing; gradient methods; maximum principle; nonlinear systems; time optimal control; cart-pendulum system; gradient methods; maximum principle; nonlinear systems; optimal horizon; time optimal controls; Automatic control; Boundary conditions; Cost function; Differential equations; Electrical equipment industry; Nonlinear systems; Optimal control; Orbital robotics; Robot sensing systems; Service robots;
Conference_Titel :
Computer Aided Control System Design, 1999. Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5500-8
DOI :
10.1109/CACSD.1999.808675
