文章基本信息

标题：Numerical Optimal Control Mixing Collocation with Single Shooting: A Case Study
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作者：Anders Albert ; Lars Imsland ; Joakim Haugen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：7
页码：290-295
DOI：10.1016/j.ifacol.2016.07.307
语种：English
出版社：Elsevier
摘要：This paper looks into implementation of numerical optimal control problems of systems with a cascade structure, in which only one part of the dynamic equality constraints has path constraints. We consider two different direct strategies for numerical implementation using direct methods: 1. Collocation for both parts of the cascade. 2. Direct collocation for one part and single shooting for the other. To compare the methods we study the case of iceberg monitoring using a single unmanned aerial vehicle. The study reveals that the second method, under some conditions can be more computationally efficient than the first method.
关键词：Optimal controlImplementationUAVIceberg MonitoringNonlinear programming