Block-structured quadratic programming for the direct multiple shooting method for optimal control
نویسندگان
چکیده
منابع مشابه
Block-structured quadratic programming for the direct multiple shooting method for optimal control
In this contribution we address the efficient solution of optimal control problems of dynamic processes with many controls. Such problems arise, e.g., from the outer convexification of integer control decisions. We treat this optimal control problem class using the direct multiple shooting method to discretize the optimal control problem. The resulting nonlinear problems are solved using sequen...
متن کاملGlobal optimal control with the direct multiple shooting method
Assumption 2 (Smoothness of the control problem) We assume that the function f : Rnx×nq 7→ Rx is sufficiently smooth. Note that Lipschitz continuity guarantees the unique existence of a solution x(·) of the differential equations for fixed q by virtue of the Picard-Lindelöf theorem. As we assume unique sensitivities in the following, also the partial derivative functions ∂f ∂x , ∂f ∂q , ∂f ∂x2 ...
متن کاملFast Direct Multiple Shooting Algorithms for Optimal Robot Control
In this overview paper, we first survey numerical approaches to solve nonlinear optimal control problems, and second, we present our most recent algorithmic developments for real-time optimization in nonlinear model predictive control. In the survey part, we discuss three direct optimal control approaches in detail: (i) single shooting, (ii) collocation, and (iii) multiple shooting, and we spec...
متن کاملA Method for Solving Optimal Control Problems Using Genetic Programming
This paper deals with a novel method for solving optimal control problems based on genetic programming. This approach produces some trial solutions and seeks the best of them. If the solution cannot be expressed in a closed analytical form then our method produces an approximation with a controlled level of accuracy. Using numerical examples, we will demonstrate how to use the results.
متن کاملComplementary Condensing for the Direct Multiple Shooting Method
In this contribution we address the efficient solution of optimal control problems of dynamic processes with many controls. Such problems typically arise from the convexification of integer control decisions. We treat this problem class using the direct multiple shooting method to discretize the optimal control problem. The resulting nonlinear problems are solved using an SQP method. Concerning...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Optimization Methods and Software
سال: 2011
ISSN: 1055-6788,1029-4937
DOI: 10.1080/10556781003623891