Indirect Methods for Optimal Control

2017 ◽  
pp. 215-231
Author(s):  
Thomas J. Böhme ◽  
Benjamin Frank
Keyword(s):  
Optimal Control ◽  
Indirect Methods

scholarly journals Comparison of direct and indirect methods for minimum lap time optimal control problems

2018 ◽  
Vol 57 (5) ◽  
pp. 665-696 ◽  
Author(s):  
Nicola Dal Bianco ◽  
Enrico Bertolazzi ◽  
Francesco Biral ◽  
Matteo Massaro
Keyword(s):  
Optimal Control ◽  
Optimal Control Problems ◽  
Time Optimal Control ◽  
Control Problems ◽  
Indirect Methods ◽  
Time Optimal ◽  
Direct And Indirect Methods

Solving nonlinear optimal path tracking problem using a new closed loop direct–indirect optimization method: application on mechanical manipulators

Robotica ◽  
2018 ◽  
Vol 37 (1) ◽  
pp. 39-61 ◽  
Author(s):  
M. Irani Rahaghi ◽  
F. Barat
Keyword(s):  
Optimal Control ◽  
Closed Loop ◽  
Control Method ◽  
Complex Dynamics ◽  
Optimal Path ◽  
Optimization Method ◽  
Indirect Methods ◽  
Solution Methods ◽  
Mechanical Manipulators ◽  
Hamilton Jacobi Bellman

SUMMARYThe purpose of this study is to determine the dynamic load carrying capacity (DLCC) of a manipulator that moves on the specified path using a new closed loop optimal control method. Solution methods for designing nonlinear optimal controllers in a closed-loop form are usually based on indirect methods, but the proposed method is a combination of direct and indirect methods. Optimal control law is given by solving the nonlinear Hamilton–Jacobi–Bellman (HJB) partial differential equation. This equation is complex to solve exactly for complex dynamics, so it is solved numerically using the Galerkin procedure combined with a nonlinear optimization algorithm. To check the performance of the proposed algorithm, the simulation is performed for a fixed manipulator. The results represent the efficiency of the method for tracking the pre-determined path and determining the DLCC. Finally, an experimental test has been done for a two-link manipulator and compare with simulation results.

Optimal Control of Rigid-Link Manipulators by Indirect Methods

2008 ◽  
Vol 31 (1) ◽  
pp. 27-58 ◽  
Author(s):  
Rainer Callies ◽  
Peter Rentrop
Keyword(s):  
Optimal Control ◽  
Indirect Methods ◽  
Rigid Link

Combining Direct and Indirect Methods for Optimal Control – a Case Study

2010 ◽  
Vol 43 (5) ◽  
pp. 775-780
Author(s):  
Ralf Hannemann ◽  
Wolfgang Marquardt
Keyword(s):  
Optimal Control ◽  
Indirect Methods ◽  
Direct And Indirect Methods
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