Optimization-based control for constrained systems with fast dynamics

本研究提案的主要目标是推进基于优化的控制的知识和应用，用于具有快速动态的约束系统，例如在汽车，机器人和航空航天领域中普遍存在的系统。 虽然存在许多快速的计算方案和优化算法的无约束系统，经常遇到的困难时，将约束直接到问题的制定。 我的研究旨在开发控制算法，允许在具有快速动态的系统上一致和实际地实施约束优化方案。 这涉及到的广义状态，输出和控制约束的快速计算方案，以及使用和验证的技术，应用近似解和次优控制，以允许实时计算的限制。

The primary objective of this research proposal is to advance the knowledge and application of optimization-based control for constrained systems with fast dynamics, such as those prevalent in the automotive, robotics and aerospace fields. Although many fast computational schemes and optimization algorithms exist for the unconstrained system, difficulties are often encountered when incorporating constraints directly into the problem formulation. My research aims to develop control algorithms that allow for consistent and practical implementation of constrained optimization schemes on systems with fast dynamics. This involves both the incorporation of generalized state, output and control constraints to fast computational schemes as well as the use and validation of techniques which apply approximate solutions and suboptimal control in order to allow for real-time computational limitations.