A Fast and Robust Algorithm for General Inequality/Equality Constrained Minimum-Time Problems-Reference-Cited by-同舟云学术

A Fast and Robust Algorithm for General Inequality/Equality Constrained Minimum-Time Problems

Published:1999-09-01 Issue:3 Volume:121 Page:337-345
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Driessen B. J.¹,Sadegh N.²,Parker G. G.³,Eisler G. R.³

Affiliation:

1. Structural Dynamics Department, Sandia National Laboratories, Albuquerque, NM 87185-0847

2. School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332

3. Structural Dynamics Department, Sandia National Laboratories

Abstract

This work has developed a new robust and reliable O(N) algorithm for solving general inequality/equality constrained minimum-time problems. To our knowledge, no one has ever applied an O(N) algorithm for solving such minimum time problems. Moreover, the algorithm developed here is new and unique and does not suffer the inevitable ill-conditioning problems that pre-existing O(N) methods for inequality-constrained problems do. Herein we demonstrate the new algorithm by solving several cases of a tip path constrained three-link redundant robotic arm problem with torque bounds and joint angle bounds. Results are consistent with Pontryagin’s Maximum Principle. We include a speed/robustness/complexity comparison with a sequential quadratic programming (SQP) code. Here, the O(N) complexity and the significant speed, robustness, and complexity improvements over an SQP code are demonstrated. These numerical results are complemented with a rigorous theoretical convergence proof of the new O(N) algorithm.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/121/3/337/5779018/337_1.pdf

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