Practical methods for optimal control using nonlinear programming
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The book is devoted to the study of algorithms for solving numerically optimal control problems (OCP) of ordinary differential equations. The main emphasis is on the so-called transcription method, that consists in a time discretization that reduces the OCP to a nonlinear programming problem (NLP). The NLP is then solved by an algorithm that will possibly take advantage of the dynamic structure. After that, the time discretization may be refined and a bigger corresponding NLP solved, until a sufficient accuracy is obtained. The book starts by an overview of the basic theory of nonlinear programming problems, and of the implementation of sequential quadratic programming algorithms, the quadratic program being solved using active set strategies. A special attention is given to the implementation for large scale and sparse problems. In a second part, the transcription method is described, mainly in the framework of Runge-Kutta discretization schemes. The mesh refinement, scaling, and sparse finite differences are discussed. A comparison with shooting algorithms is given. Finally, several significant real world problems are discussed, including aircraft trajectories and the control of industrial robots. A description of the software of the author is given. NEWLINENEWLINENEWLINEThe book is very well written, and gives a concise and well illustrated view of the power of discretization schemes for ordinary differential equations, combined with optimization algorithms, for solving significant problems; no book of this kind existed before. All practical aspects are discussed in detail, and hence, engineers and practitioners will find it quite useful.
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(only showing first 100 items - show all)- Optimal power split in a hybrid electric vehicle using direct transcription of an optimal control problem
- Singular arcs in the generalized Goddard's problem
- Direct transcription solution of optimal control problems with higher-order state constraints: theory vs practice
- Connections between the covector mapping theorem and convergence of pseudospectral methods for optimal control
- On semi-convergence of parameterized Uzawa methods for singular saddle point problems
- Adjoint estimation using direct transcription multipliers: compressed trapezoidal method
- Sensitivity analysis of linearly-implicit differential--algebraic systems by one-step extrapolation.
- A numerical method based on Cardan polynomials for solving optimal control problems
- Simultaneous approach for simulation of a high-temperature gas-cooled reactor
- Transfer of a dynamic object onto the surface of an ellipsoid
- A symplectic sequence iteration approach for nonlinear optimal control problems with state-control constraints
- A new generalized parameterized inexact Uzawa method for solving saddle point problems
- A generalized modified SOR-like method for the singular saddle point problems
- The modified PAHSS-PU and modified PPHSS-SOR iterative methods for saddle point problems
- Velocity control for coning motion missile system using direct discretization method
- A generalized preconditioned parameterized inexact Uzawa method for singular saddle point problems
- A note on block diagonal and block triangular preconditioners for complex symmetric linear systems
- Glider routing and trajectory optimisation in disaster assessment
- Minimizing the transition time in lasers by optimal control methods: single-mode semiconductor laser with homogeneous transverse profile
- A note on the implementation of an interior-point algorithm for nonlinear optimization with inexact step computations
- The dual weighted residuals approach to optimal control of ordinary differential equations
- An improved finite element meshing strategy for dynamic optimization problems
- GSTS-Uzawa method for a class of complex singular saddle point problems
- Memory-usage advantageous block recursive matrix inverse
- An accelerated symmetric SOR-like method for augmented systems
- An efficient pseudospectral method for solving a class of nonlinear optimal control problems
- Algorithms of data generation for deep learning and feedback design: a survey
- A symplectic direct method for motion-driven optimal control of mechanical systems
- Optimal control design for a class of quantum stochastic systems with financial applications
- Optimal control methodology for the counter-terrorism strategies: the relaxation based approach
- Primal-dual method for solving a linear-quadratic multi-input optimal control problem
- Time minimal saturation of a pair of spins and application in magnetic resonance imaging
- Efficient HSS-based preconditioners for generalized saddle point problems
- On quasi shift-splitting iteration method for a class of saddle point problems
- Convergence analysis for modified PAHSS-PU method with new parameter setting
- An augmented Lagrangian filter method
- A Chebyshev technique for the solution of optimal control problems with nonlinear programming methods
- A numerical framework for optimal control of switched input affine nonlinear systems subject to path constraint
- Symplectic pseudospectral methods for optimal control. Theory and applications in path planning
- Convergence analysis of the splitting-based iterative method for solving generalized saddle point problems
- On generalized parameterized inexact Uzawa method for a block two-by-two linear system
- Smoothing approach for a class of nonsmooth optimal control problems
- Smooth and non-smooth optimal pin fin profiles beyond the Schmidt optimality assumption and ``length-of-arc approximation
- Non-commutative discretize-then-optimize algorithms for elliptic PDE-constrained optimal control problems
- Spectral analysis of the matrix splitting preconditioner for block two-by-two linear systems
- A Bessel collocation method for solving fractional optimal control problems
- Geometric and numerical methods in the contrast imaging problem in nuclear magnetic resonance
- Efficient upper and lower bounds for global mixed-integer optimal control
- Solving trajectory optimization problems via nonlinear programming: the brachistochrone case study
- Combining discrete and continuous optimization to solve kinodynamic motion planning problems
- New preconditioners for saddle point problems
- Preconditioned AHSS iteration method for singular saddle point problems
- The block preconditioned \textit{LSQR} and \textit{GL}-\textit{LSQR} algorithms for the block partitioned matrices
- A novel optimal control method for impulsive-correction projectile based on particle swarm optimization
- A first-order numerical approach to switched-mode systems optimization
- A hybrid approximation scheme for discretizing constrained quadratic optimal control problems
- A new direct method for solving optimal control problem of nonlinear Volterra-Fredholm integral equation via the Müntz-Legendre polynomials
- On convergence and semi-convergence of SSOR-like methods for augmented linear systems
- A class of new extended shift-splitting preconditioners for saddle point problems
- On generalized stationary iterative method for solving the saddle point problems
- Optimal soft landing control for moon lander
- Vaccination models and optimal control strategies to dengue
- Determination of the adjoint state evolution for the efficient operation of a hybrid electric vehicle
- An alternative approach for nonlinear optimal control problems based on the method of moments
- Trim of rotorcraft multibody models using a neural-augmented model-predictive auto-pilot
- Adaptive planning and tracking of trajectories for the simulation of maneuvers with multibody models
- Issues in the real-time computation of optimal control
- Computation of order conditions for symplectic partitioned Runge-Kutta schemes with application to optimal control
- A nonlinear programming approach for the sliding mode control design
- A numerical procedure for inferring from experimental data the optimization cost functions using a multibody model of the neuro-musculoskeletal system
- Adaptive time-mesh refinement in optimal control problems with state constraints
- On SSOR iteration method for a class of block two-by-two linear systems
- A relaxed positive semi-definite and skew-Hermitian splitting preconditioner for non-Hermitian generalized saddle point problems
- A symplectic method for trajectory planning of general tractor-trailer systems
- Optimization of the parameters of feet and the laws of motion of bipedal walking robots
- A note on the generalization of parameterized inexact Uzawa method for singular saddle point problems
- A new SOR-like method for the saddle point problems
- Analysis of a periodic optimal control problem connected to microalgae anaerobic digestion
- An optimization-based framework for impulsive control systems
- A robust and high precision optimal explicit guidance scheme for solid motor propelled launch vehicles with thrust and drag uncertainty
- Optimal fixed-levels control for nonlinear systems with quadratic cost-functionals
- A convex relaxation for the time-optimal trajectory planning of robotic manipulators along predetermined geometric paths
- Energy-optimal trajectory planning for the Pendubot and the Acrobot
- Minimum-time anti-swing motion planning of cranes using linear programming
- An efficient Legendre pseudospectral method for solving nonlinear quasi bang-bang optimal control problems
- A real-time algorithm for nonlinear infinite horizon optimal control by time axis transformation method
- Rigorous convergence analysis of alternating variable minimization with multiplier methods for quadratic programming problems with equality constraints
- A triple-parameter modified SSOR method for solving singular saddle point problems
- Solution Procedures for Maneuvering Multibody Dynamics Problems for Vehicle Models of Varying Complexity
- Optimal control of formula one car energy recovery systems
- A class of accelerated Uzawa algorithms for saddle point problems
- Maneuvering multibody dynamics: new developments for models with fast solution scales and pilot-in-the-loop effects
- Trajectory Optimization Strategies for Supercavitating Underwater Vehicles
- Low-thrust multi-revolution orbit transfers
- A preconditioned GLHSS iteration method for non-Hermitian singular saddle point problems
- Rate of convergence for the Legendre pseudospectral optimal control of feedback linearizable systems
- CONTROL OF A METAPOPULATION HARVESTING MODEL FOR BLACK BEARS
- Structured preconditioners for nonsingular matrices of block two-by-two structures
- A global shooting algorithm for the facility location and capacity acquisition problem on a line with dense demand
- Coupling quadrature and continuous Runge–Kutta methods for optimal control problems
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