Real-time iterations for nonlinear optimal feedback control

被引：0
作者：
Diehl, Moritz [1 ]
Bock, Hans Georg [1 ]
Schloeder, Johannes R. [1 ]
机构：
[1] Heidelberg Univ, IWR, Interdisciplinary Ctr Sci Co, D-69120 Heidelberg, Germany
来源：
2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8 | 2005年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An efficient Newton-type scheme for the approximate on-line solution of optimization problems as they occur in optimal feedback control is presented. The scheme allows a fast reaction to disturbances by delivering approximations of the exact optimal feedback control which are iteratively refined during the runtime of the controlled process. The approximation errors of this real-time iteration scheme can be bounded and the solution contracts towards the optimal feedback control. The robustness and excellent real-time performance of the method is demonstrated in a numerical experiment, the control of an unstable system, namely an airborne kite that shall fly loops. This paper is a short version of an article that appeared recently in the SIAM Journal on Control and Optimization [1].
引用
收藏
页码：5871 / 5876
页数：6
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