Optimal control computation for nonlinear systems with state-dependent stopping criteria

In this paper, we consider a challenging optimal control problem in which the terminal time is determined by a stopping criterion. This stopping criterion is defined by a smooth surface in the state space; when the state trajectory hits this surface, the governing dynamic system stops. By restricting the controls to piecewise constant functions, we derive a finite-dimensional approximation of the optimal control problem. We then develop an efficient computational method, based on nonlinear programming, for solving the approximate problem. We conclude the paper with four numerical examples.

Citation

Lin, Qun and Loxton, Ryan and Teo, Kok Lay and Wu, Yong Hong. 2012. Optimal control computation for nonlinear systems with state-dependent stopping criteria. Automatica. 48 (9): pp. 2116-2129.

Source Title

Automatica

DOI

10.1016/j.automatica.2012.06.055

ISSN

0005-1098

Remarks

NOTICE: this is the author’s version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Automatica, Vol. 48, No. 9 (2012). DOI: 10.1016/j.automatica.2012.06.055

URI

http://hdl.handle.net/20.500.11937/26243

Collection

Curtin Research Publications