Numerical solution to uncertainties in the finite time optimal control systems design
Numerical solution to uncertainties in the finite time optimal control systems design
复制标题
有限时间最优控制系统设计中不确定性的数值求解
DOI：
10.1109/rpic.2015.7497169
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
D. Patiño
中科院分区：
文献类型：
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作者：
R. Rodrigo;D. Patiño
最优控制律在具有有限能源的自治系统中的应用，如独立式和空中机器人，是当今真实的需求。本文针对这种复杂的自主式系统，提出了一种具有固定初终状态的有限时域最优控制设计方法。虽然它的设计方法是众所周知的，不一致和奇异性可能会出现在控制律计算，主要是高阶系统。这是实时设计中的一个关键问题，而经典的最优控制理论中没有提及和处理。在本文中，我们提出并显示，如何在路径计算中的数值传播误差的问题的奇异性可以达到。这种类型的问题对于实时设计来说是关键的和不希望的，在实时设计中，需要重新计算路径以在线获得所需的最终状态。提出了一种解决方案，并进行了计算机模拟。
Application of Optimal Control Laws in autonomous systems with finite energy sources, such as freestanding and aerial robots, is a real need for today. This paper presents a finite horizon optimal controlled design with fixed initial and final states, for such complex and autonomous self-propelled systems. While its design methodology is well known, inconsistencies and singularities may occur in the control law computation, mainly for higher order systems. It is a critical issue in real-time design, which is not mentioned and treated in classical optimal control theory. In this paper, we propose and show, how the problem of the numerical spread error in the path computation a singularity can be reached. This type of problem is critical and unwanted for real-time design, in which is necessary to recalculate the path to get the desired final state online. A solution for this problem is presented, and computational simulation is also shown.