Some new methods for optimal control of constrained dynamical systems /
This dissertation develops some new results for optimal control of constrained dynamical systems. We focus on holonomic systems, nonholonomic systems, systems that satisfy a path constraint (rigorous integral of the motion), and systems with bounded control inputs. For systems with bounded control...
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| Format: | Thesis Book |
| Language: | English |
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[Place of publication not identified] :
[publisher not identified] ;
1995.
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| Online Access: | http://proxy.library.tamu.edu/login?url=http://proquest.umi.com/pqdweb?did=742534931&sid=1&Fmt=2&clientId=2945&RQT=309&VName=PQD |
| Summary: | This dissertation develops some new results for optimal control of constrained dynamical systems. We focus on holonomic systems, nonholonomic systems, systems that satisfy a path constraint (rigorous integral of the motion), and systems with bounded control inputs. For systems with bounded control inputs, we present an optimal near-minimumtime formulation. The formulation follows from a judicious choice of performance index, and the resulting necessary conditions lead to a multi-point boundary-value problem. This boundary-value problem fits nicely into the framework of a multiple shooting method for numerical solution. Holonomic systems, nonholonomic systems, and systems that satisfy path con straints, occur when the generalized coordinates and velocities are related in a very general sense. These systems are described by differential equations of motion and algebraic equations of constraint. Our optimal control formulation for these systems begins with appending the equations of motion and equations of constraint directly to the performance index. Variational calculus techniques are used to obtain the necessary conditions, and we find that the costate system is also a constrained dynamical system. To numerically solve the evolution of the coupled set of differential-algebraic equations, we propose an augmented Lagrangian penalty method. This thesis includes the theory, algorithms, and a sufficient set of illuminating prototype problems to evaluate the merits of the new methods introduced. |
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| Item Description: | Vita. "Major Subject: Aerospace Engineering". |
| Physical Description: | x, 120 leaves : illustrations ; 28 cm. Issued also on microfiche from University Microfilms Inc. |
| Bibliography: | Includes bibliographical references. |