Trajectory optimization based on differential inclusion
Trajectory optimization based on differential inclusion
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DOI：
10.2514/3.21224
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发表时间：
1994-05
影响因子：
2.6
通讯作者：
H. Seywald
中科院分区：
文献类型：
--
作者：
H. Seywald
介绍了一种生成最优控制问题解的有限维近似的方法。通过采用有利于使用微分方程的可达集的动态系统的描述，控制从系统模型中完全消除。除了降低离散化问题的维数相比，国家的最先进的配置方法，这种方法还简化了搜索的初始猜测，从标准梯度搜索方法能够收敛。一个简单的双积分器问题的新方法的力学说明。通过对一维火箭上升问题（戈达德问题）的求解，证明了新算法的有效性。
A method for generating finite-dimensional approximations to the solutions of optimal control problems is introduced. By employing a description of the dynamical system in terms of its attainable sets in favor of using differential equations, the controls are completely eliminated from the system model. Besides reducing the dimensionality of the discretized problem compared to state-of-the-art collocation methods, this approach also alleviates the search for initial guesses from where standard gradient search methods are able to converge. The mechanics of the new method are illustrated on a simple double integrator problem. The performance of the new algorithm is demonstrated on a one-dimensional rocket ascent problem (Goddard Problem) in presence of a dynamic pressure constraint.