A Successive Gap Constraint Linearization Method for Optimal Control Problems with Equilibrium Constraints
被引:0
作者:
Lin, Kangyu
论文数: 0引用数: 0
h-index: 0
机构:
Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto, JapanKyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto, Japan
Lin, Kangyu
[1
]
Ohtsuka, Toshiyuki
论文数: 0引用数: 0
h-index: 0
机构:
Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto, JapanKyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto, Japan
Ohtsuka, Toshiyuki
[1
]
机构:
[1] Kyoto Univ, Grad Sch Informat, Dept Syst Sci, Kyoto, Japan
来源:
IFAC PAPERSONLINE
|
2024年
/
58卷
/
18期
关键词:
Optimization and Model Predictive Control;
Optimal Control;
Hybrid Systems;
Variational Inequalities;
Gap Function;
MATHEMATICAL PROGRAMS;
OPTIMIZATION;
ALGORITHM;
D O I:
10.1016/j.ifacol.2024.09.026
中图分类号:
TP [自动化技术、计算机技术];
学科分类号:
0812 ;
摘要:
In this study, we propose a novel gap-constraint-based reformulation for optimal control problems with equilibrium constraints (OCPECs). We show that the proposed reformulation generates a new constraint system equivalent to the original one but more concise and with favorable differentiability. Moreover, constraint regularity can be recovered by a relaxation strategy. We show that the gap constraint and its gradient can be evaluated efficiently. We then propose a successive gap constraint linearization method to solve the discretized OCPEC. We also provide an intuitive geometric interpretation of the gap constraint. Numerical experiments validate the effectiveness of the proposed reformulation and solution method. Copyright (C) 2024 The Authors.