AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE-TIME OPTIMAL CONTROL WITH TERMINAL CONSTRAINTS

Yechiel Crispin

Abstract

The nonlinear discrete-time optimal control problem with terminal constraints is treated using a new evolutionary approach which combines a genetic search for finding the control sequence with a solution of the initial value problem for the state variables. The main advantage of the method is that it does not require to obtain the solution of the adjoint problem which usually leads to a two-point boundary value problem combined with an optimality condition for finding the control sequence. The method is verified by solving the problem of discrete velocity direction programming with the effects of gravity and thrust and a terminal constraint on the final vertical position. The solution compared favorably with the results of gradient methods.

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Paper Citation


in Harvard Style

Crispin Y. (2004). AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE-TIME OPTIMAL CONTROL WITH TERMINAL CONSTRAINTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-12-0, pages 49-57. DOI: 10.5220/0001134700490057


in Bibtex Style

@conference{icinco04,
author={Yechiel Crispin},
title={AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE-TIME OPTIMAL CONTROL WITH TERMINAL CONSTRAINTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2004},
pages={49-57},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134700490057},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE-TIME OPTIMAL CONTROL WITH TERMINAL CONSTRAINTS
SN - 972-8865-12-0
AU - Crispin Y.
PY - 2004
SP - 49
EP - 57
DO - 10.5220/0001134700490057