This paper presents a state-dependent method for solving nonlinear, control-affine, finite-time optimal control problems. The problem is set in a state-dependent form and solved as a sequence of time-varying linear-quadratic regulators, for which an approach based on state transition matrices has been developed. The novelty of the method consists of the possibility of managing a number of different state-dependent coefficient factorizations of the uncontrolled dynamics, for use with various state-dependent control methods. At each iteration, a nonlinear programming problem is solved to select the state-dependent combination that maximizes the controllability, so minimizing the control effort and, likely, the objective function. Test problems are presented to show the effectiveness of the method.
Optimal Selection of the Coefficient Matrix in State-Dependent Control Methods
Journal of Guidance, Control, and Dynamics ; 38 , 5 ; 861-873
2014-04-21
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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