TY - GEN
T1 - Iterative Optimal Control Syntheses for Nonlinear Systems in Constrained Environments
AU - Vu, Minh
AU - Zeng, Shen
N1 - Funding Information:
1Department of Electrical and System Engineering, Washington University, St. Louis, MO 63130, USA. Correspondence to: [email protected]. This work was supported by the NSF under the award CMMI-1933976.
Publisher Copyright:
© 2020 AACC.
PY - 2020/7
Y1 - 2020/7
N2 - This paper presents computational solutions for nonlinear optimal control problems with general state-space constraints that may not be representable in terms of analytical expressions. The presented approaches hinge on the iterative nature of an underlying computational nonlinear optimal control methodology by which the non-analytical constraint description can be incorporated as quadratic constraints within each iteration. The functionality and efficiency of the proposed methods are discussed from a computational point of view and illustrated on a standard parallel parking problem.
AB - This paper presents computational solutions for nonlinear optimal control problems with general state-space constraints that may not be representable in terms of analytical expressions. The presented approaches hinge on the iterative nature of an underlying computational nonlinear optimal control methodology by which the non-analytical constraint description can be incorporated as quadratic constraints within each iteration. The functionality and efficiency of the proposed methods are discussed from a computational point of view and illustrated on a standard parallel parking problem.
UR - http://www.scopus.com/inward/record.url?scp=85089605581&partnerID=8YFLogxK
U2 - 10.23919/ACC45564.2020.9147993
DO - 10.23919/ACC45564.2020.9147993
M3 - Conference contribution
AN - SCOPUS:85089605581
T3 - Proceedings of the American Control Conference
SP - 1731
EP - 1736
BT - 2020 American Control Conference, ACC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 American Control Conference, ACC 2020
Y2 - 1 July 2020 through 3 July 2020
ER -