Conference proceeding
Optimal Control using Composite Bernstein Approximants
Proceedings of the IEEE Conference on Decision & Control, pp.8276-8281
12/16/2024
DOI: 10.1109/CDC56724.2024.10886717
Abstract
In this work, we present composite Bernstein polynomials as a direct collocation method for approximating optimal control problems. An analysis of the convergence properties of composite Bernstein polynomials is provided, and beneficial properties of composite Bernstein polynomials for the solution of optimal control problems are discussed. The efficacy of the proposed approximation method is demonstrated through a bang-bang example. Lastly, we apply this method to a motion planning problem, offering a practical solution that emphasizes the ability of this method to solve complex optimal control problems.
Details
- Title: Subtitle
- Optimal Control using Composite Bernstein Approximants
- Creators
- Gage MacLin - University of IowaVenanzio Cichella - University of IowaAndrew Patterson - Langley Research CenterMichael Acheson - Langley Research CenterIrene Gregory - Langley Research Center
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings of the IEEE Conference on Decision & Control, pp.8276-8281
- Publisher
- IEEE
- DOI
- 10.1109/CDC56724.2024.10886717
- eISSN
- 2576-2370
- Language
- English
- Date published
- 12/16/2024
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984798225702771
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