Solving optimal control problems by using inherent dynamical properties
Solving optimal control problems by using inherent dynamical properties
复制标题
利用固有的动态特性解决最优控制问题
DOI：
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发表时间：
2010
期刊：
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通讯作者：
Marin Kobilarov
中科院分区：
文献类型：
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作者：
K. Flaßkamp;S. Ober;Marin Kobilarov
我们提出了一种计算最优控制轨迹的技术，利用所产生的对称性和不变（不）稳定流形的不动点的动态的固有结构。我们的方法是基于序列运动沿着相对平衡和不变流形加入简单的优化演习。我们的主要目标是计算一个近似的全局最优解，可以作为一个很好的初始猜测迭代非线性控制优化。所描述的方法是例证的球摆的最优控制。（© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA，魏因海姆）
We present a technique for computing optimal control trajectories by exploiting the inherent structure of the dynamics arising from symmetries and invariant (un)stable manifolds of fixed points. Our approach is based on sequencing motions along relative equilibria and invariant manifolds joined by simple optimized maneuvers. Our main goal is to compute an approximate globally optimal solution which can serve as a good initial guess for iterative nonlinear control optimization. The described approach is exemplified by the optimal control of the spherical pendulum. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)