Numerical Optimal Control Mixing Collocation with Single Shooting: A Case Study

被引：3

作者：

Albert, Anders ^{[1
]}

Imsland, Lars ^{[1
]}

Haugen, Joakim ^{[2
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, Trondheim, Norway

[2] SINTEF Fisheries & Aquaculture, Trondheim, Norway

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 07期

关键词：

Optimal control; Implementation; UAV; Iceberg Monitoring; Nonlinear programming;

D O I：

10.1016/j.ifacol.2016.07.307

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 paper looks into implementation of numerical optimal control problems of systems with a cascade structure, in which only one part of the dynamic equality constraints has path constraints. We consider two different direct strategies for numerical implementation using direct methods: 1. Collocation for both parts of the cascade. 2. Direct, collocation for one part and single shooting for the other. To compare the methods We study the case of iceberg monitoring using a single unmanned aerial vehicle. The study reveals that the second method, under some conditions can be more computationally efficient than the first method. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：290 / 295

页数：6

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