Affiliation:
1. Lund Institute of Technology, Lund, Sweden
Abstract
A new approach to the numerical solution of optimal control problems with state-variable inequality constraints is presented. It is shown that the concept of constraining hyperplanes may be used to approximate the original problem with a problem where the constraints are of a mixed state-control variable type. The efficiency and the accuracy of the combination of constraining hyperplanes and a second-order differential dynamic programming algorithm are investigated on problems of different complexity, and comparisons are made with the slack-variable and the penalty-function techniques.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
7 articles.
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