Optimization of Controlled Free-Time Sweeping Processes With Applications to Marine Surface Vehicle Modeling

被引：1

作者：

Cao, Tan H. ^{[1
]}

Khalil, Nathalie T. ^{[2
,3
]}

Mordukhovich, Boris S. ^{[4
]}

Dao Nguyen ^{[4
]}

Trang Nguyen ^{[4
]}

Pereira, Fernando Lobo ^{[2
,3
]}

机构：

[1] State Univ New York, Dept Appl Math & Stat, Incheon 21985, South Korea

[2] Univ Porto, SYSTEC, Fac Elect Engn, P-4200465 Porto, Portugal

[3] Univ Porto, Inst Syst & Robot, P-4200465 Porto, Portugal

[4] Wayne State Univ, Dept Math, Detroit, MI 48201 USA

来源：

IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷

基金：

美国国家科学基金会; 新加坡国家研究基金会;

关键词：

Process control; Optimal control; Vehicle dynamics; Tools; Surface treatment; Robots; Indexes; Discrete approximation; free time problems; marine surface vehicle; necessary optimality conditions; optimal control; sweeping process;

D O I：

10.1109/LCSYS.2021.3085900

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter is devoted to a free-time optimal control problem for sweeping processes. We develop a constructive finite-difference approximation procedure that allows us to establish necessary optimality conditions for discrete optimal solutions and then show how these optimality conditions are applied to solving a controlled marine surface vehicle model.

引用

页码：782 / 787

页数：6

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