Optimal Path-Following Guidance with Generalized Weighting Functions Based on Indirect Gauss Pseudospectral Method
نویسندگان
چکیده
منابع مشابه
path following of a high speed planing boat based on gauss pseudospectral method
in this paper, the problem of optimal path following for a high speed planing boat is addressed. first, a nonlinear mathematical model of the boat’s dynamics is derived and then the serret-frenet frame is presented to facilitate the path following control design. to satisfy the constraints on the states and the input controls of the boat's nonlinear dynamics and minimize both the cross tracking...
متن کاملConvergence of a Gauss Pseudospectral Method for Optimal Control
A convergence theory is presented for approximations of continuous-time optimal control problems based on a Gauss pseudospectral discretization. Under assumptions of coercivity and smoothness, the Gauss pseudospectral method has a local minimizer that converges exponentially fast in the sup-norm to a local minimizer of the continuous-time optimal control problem. The convergence theorem is pres...
متن کاملGauss Pseudospectral Method for Solving Infinite-Horizon Optimal Control Problems
The previously developed Gauss pseudospectral method is extended to the case of nonlinear infinite-horizon optimal control problems. First, the semi-infinite domain t ∈ [0,+∞) is transformed to the domain τ = [−1,+1). The first-order optimality conditions of NLP obtained from the pseudospectral discretization are then presented. These optimality conditions are related to the KKT multipliers of ...
متن کاملGuidance-based Path following for Wheeledmobile Robots
This paper addresses the problem of path following for wheeled mobile robots (WMRs) by utilizing a novel guidance-based approach. The guidance laws are developed at an ideal, dynamics-independent level, entailing generically valid laws not influenced by particular peculiarities relating to any given dynamics case. Hence, the resulting guidancebased framework is equally applicable to any planar ...
متن کاملAn Indirect Method for Optimal Guidance of a Glider
This paper addresses the problem of finding the trajectory, for a glider, that maximizes the final velocity and respect both initial and terminal conditions on the state. A new set of differential equations governing the system, deduced using optimal control theory, is proposed. To solve this system of equations, an algorithm based on an indirect shooting method is described. It provides paths ...
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: Mathematical Problems in Engineering
سال: 2018
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2018/3104397