Purnanand Elango , Dayou Luo , Abhinav G. Kamath , Samet Uzun , Taewan Kim , Behçet Açıkmeşe
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引用次数: 0
Abstract
We present continuous-time successive convexification (ct- scvx ), a real-time-capable solution method for constrained trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence. The proposed solution framework only relies on first-order information, and it combines several key methods to solve a large class of nonlinear optimal control problems: (i) exterior penalty-based reformulation of the path constraints; (ii) generalized time-dilation; (iii) multiple-shooting discretization; (iv) -exact penalization of the nonconvex constraints; and (v) the prox-linear method, a sequential convex programming (SCP) algorithm for convex-composite minimization. The proposed reformulation of the path constraints enables continuous-time constraint satisfaction even on sparse temporal discretization grids and obviates the need for mesh-refinement heuristics. Through the prox-linear method, we guarantee that: (i) ct-scvx converges to stationary points of the penalized problem; (ii) the converged stationary points that are feasible for the discretized and control-parameterized optimal control problem are also Karush–Kuhn–Tucker (KKT) points. Furthermore, we specialize this property to global minimizers of convex optimal control problems and obtain stronger convergence results by exploiting convexity. In addition to theoretical analysis, we demonstrate the effectiveness and real-time performance of ct-scvx by means of numerical examples from real-world optimal control applications: dynamic obstacle avoidance, and 3-degree-of-freedom (3-DoF) and 6-DoF autonomous rocket landing.
期刊介绍:
Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field.
After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience.
Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.