Sequential linear programming for design of time-optimal controllers

Tarunraj Singh, Puneet Singla

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

8 Scopus citations

Abstract

This paper presents a sequential linear programming approach for the determination of time-optimal controller for nonlinear systems. The sequential linear programming solution is used to update the control profile so as to satisfy the terminal conditions for an assumed maneuver time. A univariant minimization approach which brackets the optimal value of the maneuver time, such as the bisection algorithm is used in an outer loop to converge to the minimum time. The proposed technique is illustrated on two benchmark problems: the attitude control of a spacecraft and the minimum time control of a robot.

Original languageEnglish (US)
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages4755-4760
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0712/14/07

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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    Singh, T., & Singla, P. (2007). Sequential linear programming for design of time-optimal controllers. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 4755-4760). [4434471] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2007.4434471