Impact of regular perturbations in input constrained optimal control problems

Summary This article explores the impact of regular perturbations (ie, small terms) in input constrained optimal control problems for nonlinear systems. In detail, it is shown that perturbation terms of magnitude ε appearing in the dynamics or the cost function lead to a variation of magnitude Kε2 i...

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Bibliographic Details
Published inOptimal control applications & methods Vol. 41; no. 4; pp. 1321 - 1351
Main Authors Maamria, D., Chaplais, F., Sciarretta, A., Petit, N.
Format Journal Article
LanguageEnglish
Published Glasgow Wiley Subscription Services, Inc 01.07.2020
Wiley
Subjects
Automatic
Constraints
Cost function
Engineering Sciences
input constraints
interior methods
Nonlinear control
Nonlinear systems
Optimal control
Perturbation
regular perturbations
optimal control
interior methods
input constraints
regular perturbations
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Summary:Summary This article explores the impact of regular perturbations (ie, small terms) in input constrained optimal control problems for nonlinear systems. In detail, it is shown that perturbation terms of magnitude ε appearing in the dynamics or the cost function lead to a variation of magnitude Kε2 in the optimal cost. The scale factor K can be estimated from the nominal (ε=0) solution and the analytic expressions of the perturbations. This result extends existing results that have been established in the absence of input constraints. Technically, the result is proven by means of interior penalties which allow constructing a sequence of suboptimal feasible solutions. Two numerical examples serve as illustration.
ISSN:0143-2087
1099-1514
DOI:10.1002/oca.2605