Efficient Implementation of Rate Constraints for Nonlinear Optimal Control

Yuanbo Nie; Eric Kerrigan

doi:10.1109/tac.2020.2976051

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arXiv · 1903.05508

Efficient Implementation of Rate Constraints for Nonlinear Optimal Control

Yuanbo Nie·Eric Kerrigan

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Abstract

We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the solution of this on-mesh implementation has better properties. Moreover, computational speedups of more than 30% can be achieved by exploiting the properties of the resulting linear constraint equations.

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BibTeX RIS

Yuanbo Nie, Eric Kerrigan. 2019-03-13. Efficient Implementation of Rate Constraints for Nonlinear Optimal Control. https://doi.org/10.1109/tac.2020.2976051

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