A quasilinearization algorithm and its application to a manipulator problem
作者:
B. P. YEO,
期刊:
International Journal of Control
(Taylor Available online 1974)
卷期:
Volume 20,
issue 4
页码: 623-640
ISSN:0020-7179
年代: 1974
DOI:10.1080/00207177408932764
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A quasilinearization algorithm is proposed for the computation of optimal control of a class of constrained problem. The constraints are inequality constraints on functions of the state and control variables, and bounds on the values of the control variables. Necessary conditions for optimal control of the control problem are derived. In the iterative procedure, no prior information is required regarding the sequence of constrained and unconstrained arcs and the inequality constraints which are on their boundaries along a specific constrained arc of the optimal trajectory. All this information will be determined within the iterative procedure using some necessary conditions for optimal control. The ability of the proposed algorithm to solve practical problems is demonstrated by its application to several variations of two problems, one of which is a common manipulator problem in industry where transportation of open vessels of liquid is to be performed in a specified period of time. It is shown that the proposed quasilinearization algorithm is an effective tool in deriving optimal control policies for a common type of manipulator operation in industry.
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