Mixed Use of Pontryagin’s Principle and the Hamilton-Jacobi-Bellman Equation in Infinite- and Finite-Horizon Constrained Optimal Control (CROSBI ID 720319)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Weston, Jerome ; Tolić, Domagoj ; Palunko, Ivana
engleski
Mixed Use of Pontryagin’s Principle and the Hamilton-Jacobi-Bellman Equation in Infinite- and Finite-Horizon Constrained Optimal Control
This paper proposes a framework for solving a class of nonlinear infinite- and finite-horizon optimal control problems with constraints. Establishment of existence and uniqueness of solutions to the Hamilton-Jacobi-Bellman (HJB) equation plays a crucial role in verifying well- posedness of a given problem and in streamlining numerical solutions. The proposed framework revolves around infinite-horizon Bolza-type cost functions with running costs exponentially decaying in time. We show \Gamma-convergence of solutions with such cost functions to the solutions of initial constrained (in)finite- horizon problems (that is, without running costs exponentially decaying in time). Basically, we demonstrate how to approximate solutions of (in)finite-horizon constrained optimal problems using our framework. Employing a solver based on the Pontryagin’s Principle, we efficiently obtain optimal solutions for finite- and infinite-horizon problems. Efficiency of the proposed framework is demonstrated in simulation by solving a 3D path planing problem with obstacles for a full nonlinear model of an autonomous underwater vehicle (AUV).
optimal control ; constrained control ; optimization
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Podaci o prilogu
81-98.
2023.
objavljeno
Podaci o matičnoj publikaciji
Intelligent Autonomous Systems 17 : proceedings of the 17th International Conference IAS-17
Cham: Springer
Lecture Notes in Networks and Systems; 577
978-303-122-216-0
Podaci o skupu
International Conference on Intelligent Autonomous Systems (IAS)
predavanje
13.06.2022-16.06.2022
Zagreb, Hrvatska