TY - GEN
T1 - A Conjugate Unscented Transform-Based Scheme for Optimal Control with Terminal State Constraints
AU - Mercurio, Michael
AU - Singla, Puneet
AU - Majji, Manoranjan
N1 - Funding Information:
VI. ACKNOWLEDGEMENT This material is based upon the work jointly supported by the National Science Foundation under Award No. CMMI-1634590 and AFOSR Grants FA-9550-17-1-0088.
Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - 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.
AB - 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.
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U2 - 10.23919/ACC.2018.8431117
DO - 10.23919/ACC.2018.8431117
M3 - Conference contribution
AN - SCOPUS:85052570530
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 2651
EP - 2656
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -