Conference proceeding
Consistent approximation of optimal control problems using Bernstein polynomials
2019 IEEE 58th Conference on Decision and Control (CDC), Vol.2019-, pp.4292-4297
12/2019
DOI: 10.1109/CDC40024.2019.9029677
Abstract
We present a direct method for the solution of nonlinear optimal control problems based on Bernstein polynomial approximations. We show, using a rigorous setting, that the proposed method yields consistent approximations of time continuous optimal control problems. We demonstrate that the method can also be used for the estimation of optimal control problems costates. This result leads to the formulation of the Covector Mapping Theorem for Bernstein polynomial approximation. Finally, we exploit the numerical and geometric properties of Bernstein polynomials, and illustrate the advantages of the method through numerical examples.
Details
- Title: Subtitle
- Consistent approximation of optimal control problems using Bernstein polynomials
- Creators
- Venanzio Cichella - University of IowaIsaac Kaminer - Naval Postgraduate SchoolClaire Walton - Naval Postgraduate SchoolNaira Hovakimyan - University of Illinois at Urbana–ChampaignAntonio M Pascoal - Instituto Superior Técnico
- Resource Type
- Conference proceeding
- Publication Details
- 2019 IEEE 58th Conference on Decision and Control (CDC), Vol.2019-, pp.4292-4297
- Publisher
- IEEE
- DOI
- 10.1109/CDC40024.2019.9029677
- ISSN
- 0743-1546
- eISSN
- 2576-2370
- Language
- English
- Date published
- 12/2019
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984196527802771
Metrics
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