Efficient Implementation of Rate Constraints for Nonlinear Optimal Control

• 成果类型: Article
• 署名作者: Nie, Yuanbo; Kerrigan, Eric C.
• 署名单位: Imperial College London; Imperial College London
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2976051
• 发表日期: 2021
• 页码: 329-334
• 关键词: Optimal control; Input variables; trajectory; Mathematical model; aerodynamics; Boundary conditions; Splines (mathematics); optimal control; direct collocation method; rate constraints; Singular control

摘要

We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the solution of this on-mesh implementation has better properties. Moreover, computational speedups of more than 30% can be achieved by exploiting the properties of the resulting linear constraint equations.