Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 68, Issue 9, Pages 5608-5615Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2022.3221704
Keywords
Nonlinear control systems; optimal control
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This article presents a method to convexify state-constrained optimal control problems in the control-input space. The proposed method allows convex programming methods to find the globally optimal solution even when costs and control constraints are nonconvex in control and convex in state. The method is demonstrated in a navigation example with 16 dimensions.
This article presents a method that convexifies state-constrained optimal control problems in the control-input space. The proposed method enables convex programming methods to find the globally optimal solution even if costs and control constraints are nonconvex in control and convex in state, dynamics is nonaffine in control and convex in state, and state constraints are convex in state. Under the above conditions, generic methods do not guarantee to find optimal solutions, but the proposed method does. The proposed approach is demonstrated in a 16-D navigation example.
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