A Conjugate Unscented Transform-Based Scheme for Optimal Control with Terminal State Constraints

Michael Mercurio, Puneet Singla, Manoranjan Majji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, sparse collocation approach is used to develop optimal feedback control laws for Optimal Control Problems (OCPs) involving the terminal state constraints. The effective collocation process is accomplished by utilizing the recently developed Conjugate Unscented Transformation to provide a minimal set of collocation points. In conjunction with the minimal cubature points, an l1 norm minimization technique is employed to optimally select the appropriate basis functions from a larger complete dictionary of polynomial basis functions. Finite time attitude regulation problem with terminal constraint is considered. Numerical simulations demonstrates the effectiveness of the proposed approach in derving the feedback laws for terminally constrained OCPs.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2651-2656
Number of pages6
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
Volume2018-June
ISSN (Print)0743-1619

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    Mercurio, M., Singla, P., & Majji, M. (2018). A Conjugate Unscented Transform-Based Scheme for Optimal Control with Terminal State Constraints. In 2018 Annual American Control Conference, ACC 2018 (pp. 2651-2656). [8431117] (Proceedings of the American Control Conference; Vol. 2018-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431117