Scribd
Upload
7 views10 pages

Scalar Optimal Control Examples

The document discusses a scalar optimal control problem with a focus on state inequality constraints of order p=1, highlighting two scenarios based on the parameter ρ. It outlines the use of a direct sequential method with piecewise constant controls and an SQP solver for optimization. The document also contrasts non-singular and singular cases of the problem depending on the value of ρ.

Uploaded by

Nguyen Tuan Anh
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
7 views10 pages

Scalar Optimal Control Examples

The document discusses a scalar optimal control problem with a focus on state inequality constraints of order p=1, highlighting two scenarios based on the parameter ρ. It outlines the use of a direct sequential method with piecewise constant controls and an SQP solver for optimization. The document also contrasts non-singular and singular cases of the problem depending on the value of ρ.

Uploaded by

Nguyen Tuan Anh
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd

Illustrative Example:

 Scalar optimal control problem:

 Pure state inequality constraint of order p=1


 Two cases:
  > 0: No singular arc
  = 0: Possible singular arc with: u(t)=x2(t)-x1(t)

1
Illustrative Example:

 Scalar optimal control problem:

 Direct sequential method with piecewise constant controls


 SQP solver with gradients calculated via forward sensitivity analysis
 Inequality state constraint transcribed as:

2
Illustrative Example:

 Non-singular case:  = 0.005

3
Illustrative Example:

 Non-singular case:  = 0.005

4
Illustrative Example:

 Non-singular case:  = 0.005

5
Illustrative Example:

 Non-singular case:  = 0.005

6
Illustrative Example:

 Singular case:  = 0

7
Illustrative Example:

Singular case:  = 0

8
Illustrative Example:

 Singular case:  = 0

9
Illustrative Example:

 Singular case:  = 0

10

You might also like