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Communication dans un congrès

Inversion in indirect optimal control: constrained and unconstrained cases

Abstract : This paper focuses on using non linear inversion in optimal control problems. This technique allows us to rewrite the stationarity conditions derived from the calculus of variations under a higher order form with a reduced number of variables. After a brief tutorial overview of the multi- input multi-output cases for which the cost functions have a positive definite Hessian with respect to control variables, we address the case of linear systems with a control affine cost to be minimized under input constraints. This is the main contribution of this paper. We study the switching function between singular and regular arcs and explain how higher order stationarity conditions can be obtained. An example from the literature (energy optimal trajectory for a car) is addressed.
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Communication dans un congrès
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Contributeur : François Chaplais <>
Soumis le : lundi 12 juillet 2010 - 22:35:12
Dernière modification le : jeudi 24 septembre 2020 - 17:04:18
Archivage à long terme le : : jeudi 14 octobre 2010 - 15:37:07


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François Chaplais, Nicolas Petit. Inversion in indirect optimal control: constrained and unconstrained cases. 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, United States. pp.683-689, ⟨10.1109/CDC.2007.4434074⟩. ⟨hal-00501874⟩



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