Constraint aggregation based numerical optimal control
作者： Qiang Zhang , Shurong Li , Xiaodong Zhang , Yang Lei
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摘要: A numerical optimal control problem containing state and constraints is discussed based on the constraint aggregation Pontryagin maximal principle. First, a Control Vector Parameterization (CVP) method used to convert original into nonlinear programming problem. Then, Kreisselmeier-Steinhauser(KS) function applied lump all final time constraint, gradients of object are obtained by solving adjoint equations. Finally, solution through Sequential Quadratic Programming (SQP) method. The smoothness decreases after KS aggregation, this problem, self-adaptive presented. can effectively decrease computation without reducing optimization precision. Simulation examples demonstrate effectiveness
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