Name
Title | ||
|---|---|---|
Computationally efficient trajectory optimization for linear control systems with input and state constraints |
Abstract | ||
|---|---|---|
This paper presents a trajectory generation method that optimizes a quadratic cost functional with respect to linear system dynamics and to linear input and state constraints. The method is based on continuous-time flatness-based trajectory generation, and the outputs are parameterized using a polynomial basis. A method to parameterize the constraints is introduced using a result on polynomial nonpositivity. The resulting parameterized problem remains linear-quadratic and can be solved using quadratic programming. The problem can be further simplified to a linear programming problem by linearization around the unconstrained optimum. The method promises to be computationally efficient for constrained systems with a high optimization horizon. As application, a predictive torque controller for a permanent magnet synchronous motor which is based on real-time optimization is presented. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ACC.2011.5990741 | American Control Conference |
Keywords | DocType | Volume |
constraint theory,linear programming,linear quadratic control,linear systems,permanent magnet motors,polynomials,predictive control,quadratic programming,synchronous motors,torque control,trajectory control,continuous time system,linear control systems,linear programming,linear quadratic control,optimization,permanent magnet synchronous motor,polynomial nonpositivity,predictive torque controller,quadratic cost functional,quadratic programming,state constraints,trajectory generation method | Journal | abs/1211.5761 |
ISSN | ISBN | Citations |
0743-1619 | 978-1-4577-0080-4 | 2 |
PageRank | References | Authors |
0.62 | 5 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jean-Francois Stumper | 1 | 6 | 1.83 |
| Ralph Kennel | 2 | 111 | 26.94 |