Discrete time optimal control with frequency constraints for non-smooth systems

DOI10.1016/J.AUTOMATICA.2019.06.009MaRDI QIDQ2280876zbMATH OpenOpenAlexWikidataFDO

Authors Shruti Kotpalliwar, Pradyumna Paruchuri, Debasish Chatterjee, Ravi N. Banavar

Publication date 19 December 2019

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1901.06562

zbMATH Keywords

optimal controlPontryagin maximum principlenonsmooth systemsfrequency constraints

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Discrete-time control/observation systems (93C55)

Abstract: We present a Pontryagin maximum principle for discrete time optimal control problems with (a) pointwise constraints on the control actions and the states, (b) frequency constraints on the control and the state trajectories, and (c) nonsmooth dynamical systems. Pointwise constraints on the states and the control actions represent desired and/or physical limitations on the states and the control values; such constraints are important and are widely present in the optimal control literature. Constraints of the type (b), while less standard in the literature, effectively serve the purpose of describing important spectral properties of inertial actuators and systems. The conjunction of constraints of the type (a) and (b) is a relatively new phenomenon in optimal control but are important for the synthesis control trajectories with a high degree of fidelity. The maximum principle established here provides first order necessary conditions for optimality that serve as a starting point for the synthesis of control trajectories corresponding to a large class of constrained motion planning problems that have high accuracy in a computationally tractable fashion. Moreover, the ability to handle a reasonably large class of nonsmooth dynamical systems that arise in practice ensures broad applicability our theory, and we include several illustrations of our results on standard problems.

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Cited in

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• Optimal sampled-data controls with running inequality state constraints: Pontryagin maximum principle and bouncing trajectory phenomenon
• A simple proof of the discrete time geometric Pontryagin maximum principle on smooth manifolds
• A frequency‐constrained geometric Pontryagin maximum principle on matrix Lie groups
• Nonsmooth optimization for multiband frequency domain control design
• A discrete-time Pontryagin maximum principle on matrix Lie groups

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