Title :
On trajectory optimization for polynomial systems via series expansions
Author :
Bullo, Francesco ; Cerven, W. Todd
Author_Institution :
Coordinated Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
We present algorithms for the design of feasible and optimal trajectories of nonlinear control systems. We focus on stable polynomial control systems linear in the controls. We prove existence of local solutions near the minimum energy control for the linearized system and we investigate provably convergent iterative schemes. Finally, we formulate the trajectory optimization problem as a low dimensional nonlinear program
Keywords :
control nonlinearities; nonlinear control systems; nonlinear programming; optimal control; optimisation; series (mathematics); stability; local solutions; low dimensional nonlinear program; minimum energy control; provably convergent iterative schemes; series expansions; stable polynomial control systems; trajectory optimization; Algorithm design and analysis; Control systems; Iterative algorithms; Medical robotics; Mobile robots; Nonlinear control systems; Open loop systems; Polynomials; Remotely operated vehicles; Robot kinematics;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912862
