期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 84, 期 2, 页码 370-380出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2011.555883
关键词
optimal control; state-control constraints; quadratic programming
An active-set method is proposed for solving linear quadratic optimal control problems subject to general linear inequality path constraints including mixed state-control and state-only constraints. A Riccati-based approach is developed for efficiently solving the equality constrained optimal control subproblems generated during the procedure. The solution of each subproblem requires computations that scale linearly with the horizon length. The algorithm is illustrated with numerical examples.
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