Computations for time-optimal bay-bay control using a lagrangian formulation
Date
2002
Authors
Simakov, S.
Kaya, C.Y.
Lucas, S.
Editors
Camacho, E.
Advisors
Journal Title
Journal ISSN
Volume Title
Type:
Conference paper
Citation
IFAC papers online, 2002 / Camacho, E. (ed./s), vol.15, iss.1, pp.455-460
Statement of Responsibility
Conference Name
The 15th Triennial IFAC World Congress (21 Jul 2002 : Spain)
Abstract
In this paper an algorithm is proposed to solve the problem of time-optimal bang-bang control of nonlinear systems from a given initial state to a given terminal state. The problem is reduced to the problem of minimising a Lagrangian subject to an equality constraint defined by the terminal state. Then a solution is obtained by solving a system of nonlinear equations. Examples are given so as to illustrate the algorithm presented.