Iterative optimal control syntheses illustrated on the Brockett integrator

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Abstract

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.

Original languageEnglish
Pages (from-to)138-143
Number of pages6
JournalIFAC-PapersOnLine
Volume52
Issue number16
DOIs
StatePublished - Sep 2019
Event11th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2019 - Vienna, Austria
Duration: Sep 4 2019Sep 6 2019

Keywords

  • Computational methods
  • Nonholonomic systems
  • Optimal control

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