Comparative study of numerical solutions for the optimal control problem in the presence of uncertainties

被引：0
作者：
Diveev, Askhat [1 ]
Shmalko, Elizaveta [1 ]
机构：
[1] Russian Acad Sci, Fed Res Ctr Comp Sci & Control, 44 Vavilova Str, Moscow 119333, Russia
来源：
14TH INTERNATIONAL SYMPOSIUM INTELLIGENT SYSTEMS | 2021年 / 186卷
基金：
俄罗斯基础研究基金会; 俄罗斯科学基金会;
关键词：
Numerical methods; optimal control; symbolic regression; phase constraints; SYSTEMS;
D O I：
10.1016/j.procs.2021.04.220
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
The numerical solution of the optimal control problem is addressed. In the paper we compare a new approach of synthesized optimal control with one of the direct approach to solve a control problem for a group of mobile robots in the complex environment with phase constraints in the presence of noise and uncertainties in model and initial conditions. It is shown in the paper that the approach based on stabilization of the system is much less sensitive to different perturbations. (C) 2021 The Authors. Published by Elsevier B.V.
引用
收藏
页码：279 / 286
页数：8
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