TY - JOUR
T1 - Iterative optimal control syntheses illustrated on the Brockett integrator
AU - Zeng, Shen
N1 - Publisher Copyright:
© 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
PY - 2019/9
Y1 - 2019/9
N2 - In this paper, we investigate computational methods for synthesizing optimal control inputs for nonholonomic control systems. We use the Brockett integrator as a benchmark example to illustrate different aspects of the computational trajectory optimization problem. The main result of this paper is the establishment of a rather attractive iterative scheme for practically constructing optimal control inputs. The functionality and efficiency of the proposed iterative scheme are illustrated on different optimal steering problems centered around the Brockett integrator.
AB - In this paper, we investigate computational methods for synthesizing optimal control inputs for nonholonomic control systems. We use the Brockett integrator as a benchmark example to illustrate different aspects of the computational trajectory optimization problem. The main result of this paper is the establishment of a rather attractive iterative scheme for practically constructing optimal control inputs. The functionality and efficiency of the proposed iterative scheme are illustrated on different optimal steering problems centered around the Brockett integrator.
KW - Computational methods
KW - Nonholonomic systems
KW - Optimal control
UR - http://www.scopus.com/inward/record.url?scp=85077471877&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2019.11.768
DO - 10.1016/j.ifacol.2019.11.768
M3 - Conference article
AN - SCOPUS:85077471877
SN - 2405-8963
VL - 52
SP - 138
EP - 143
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 16
T2 - 11th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2019
Y2 - 4 September 2019 through 6 September 2019
ER -