Second-order DMOC using projection

Kristine L. Snyder, Todd D. Murphey

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

5 Scopus citations

Abstract

Discrete mechanics and optimal control (DMOC) is a recent development in optimal control of mechanical systems that takes advantage of the variational structure of mechanics when discretizing the optimal control problem. Typically, the discrete Euler-Lagrange equations are used as constraints on the feasible set of solutions, and then the objective function is minimized using a constrained optimization algorithm, such as sequential quadratic programming (SQP). In contrast, this paper illustrates that by reducing dimensionality by projecting onto the feasible subspace and then performing optimization, one can obtain significant improvements in convergence, going from superlinear to quadratic convergence. Moreover, whereas numerical SQP can run into machine precision problems before terminating, the projection-based technique converges easily. Double and single pendulum examples are used to illustrate the technique.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages1872-1878
Number of pages7
DOIs
StatePublished - 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

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

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period12/15/1012/17/10

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