An indirect numerical method for a time-optimal state-constrained control problem in a steady two-dimensional fluid flow
Chertovskih, Roman ; Khalil, Nathalie T. ; Karamzin, Dmitry ; Pereira, Fernando Lobo
arXiv, 1810.08530 / Harvested from arXiv
Text on arXiv
This article concerns the problem of computing solutions to state-constrained optimal control problems whose trajectory is affected by a flow field. This general mathematical framework is particularly pertinent to the requirements underlying the control of Autonomous Underwater Vehicles in realistic scenarii. The key contribution consists in devising a computational indirect method which becomes effective in the numerical computation of extremals to optimal control problems with state constraints by using the maximum principle in Gamkrelidze's form in which the measure Lagrange multiplier is ensured to be continuous. The specific problem of time-optimal control of an Autonomous Underwater Vehicle in a bounded space set, subject to the effect of a flow field and with bounded actuation, is used to illustrate the proposed approach. The corresponding numerical results are presented and discussed.
Publié le : 2018-10-19
Classification:  Mathematics - Optimization and Control 
@article{1810.08530,
     author = {Chertovskih, Roman and Khalil, Nathalie T. and Karamzin, Dmitry and Pereira, Fernando Lobo},
     title = {An indirect numerical method for a time-optimal state-constrained
  control problem in a steady two-dimensional fluid flow},
     journal = {arXiv},
     volume = {2018},
     number = {0},
     year = {2018},
     language = {en},
     url = {http://dml.mathdoc.fr/item/1810.08530}
}

Chertovskih, Roman; Khalil, Nathalie T.; Karamzin, Dmitry; Pereira, Fernando Lobo. An indirect numerical method for a time-optimal state-constrained
  control problem in a steady two-dimensional fluid flow. arXiv, Tome 2018 (2018) no. 0, . http://gdmltest.u-ga.fr/item/1810.08530/