An iterative method for time optimal control of dynamic systems

• Autorzy: Kashiri N. , Ghasemi M. H. , Dardel M.
• Języki publikacji: EN

Abstrakty

EN

An iterative method for time optimal control of a general type of dynamic systems is proposed, subject to limited control inputs. This method uses the indirect solution of open-loop optimal control problem. The necessary conditions for optimality are derived from Pontryagin's minimum principle and the obtained equations lead to a nonlinear two point boundary value problem (TPBVP). Since there are many difficulties in finding the switching points and in solving the resulted TPBVP, a simple iterative method based on solving the minimum energy solution is proposed. The method does not need finding the switching point so that the resulted TPBVP can be solved by usual algorithms such as shooting and collocation. Also, since the solution of TPBVPs is sensitive to initial guess, a short procedure for making the proper initial guess is introduced. To this end, the accuracy and efficiency of the proposed method is demonstrated using time optimal solution of some systems: harmonic oscillator, robotic arm, double spring-mass problem with coulomb friction and F-8 aircraft.

Słowa kluczowe

EN

dynamic systems; optimal control; time optimal control; bounded control inputs

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2011
• Tom: Vol. 21, no. 1
• Strony: 5--23
• Opis fizyczny: Bibliogr. 30 poz., rys., tab.

Twórcy

autor

Kashiri N.

autor

Ghasemi M. H.

autor

Dardel M.

• Mechanical Engineering Department, Babol University of Technology, Babol, Iran

Bibliografia

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