Adaptive node placement for optimal control on system of multi-degree of freedom
Refereed conference paper presented and published in conference proceedings


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摘要Optimal control finds a control law for a system under optimality criterion. Numerical methods are necessary to solving an optimal control problem for sufficiently complex systems. Using quadrature methods base on fixed nodes, the Discrete Mechanics and Optimal Control (DMOC) method based on Newton quadrature by Marsden and the pseudospectral optimal control based on Gaussian quadrature are excellent for the numerical optimal control. The Adaptive Quadrature Optimal Control (AQUOC) by Ching uses an alternative method based on adaptive node placement, which the discretization node are concentrated in areas of high activity where precision is most needed during the optimization routine. Ching has verified the new algorithm via numerical solutions on systems of single degree of freedom. In this paper, through a rigorous formulation of the discretization using zero-order hold (ZOH) and 1
st order hold (FOH) interpolating input function respectively, the incorporation of AQUOC for linear time-invariant system of multi-degree of freedom is implemented and verified. © 2010 SICE.
著者Ko P.-H., Du R.
會議名稱SICE Annual Conference 2010, SICE 2010
會議開始日18.08.2010
會議完結日21.08.2010
會議地點Taipei
會議國家/地區台灣
詳細描述organized by The Society of Instrument and Control Engineers (SICE), Japan,
出版年份2010
月份11
日期29
頁次2399 - 2404
國際標準書號9784907764364
語言英式英語
關鍵詞1
st order hold, Adaptive quadrature, Optimal control, Optimization, Zero order hold

上次更新時間 2020-05-09 於 01:42