Path Planning in Mobile Robots

Optimal Control of Discrete-Time Systems

Problem Formulation

Problem Statement

Performance Indices

1|Page
Path Planning in Mobile Robots

Problem Solution

2|Page
Path Planning in Mobile Robots

Fixed Final State

In the case of a fixed final state, we use the desired value of 𝑥𝑁 as the terminal condition. Then 𝑥𝑁 is
not free to be varied in determining the optimal solution and 𝑑𝑥𝑁 = 0. In summary, the initial
condition for the two-point boundary-value problem (2.1-9) is the known value of 𝑥𝑖. The final
condition, in our case is a desired value of 𝑥𝑁.

3|Page
Path Planning in Mobile Robots

Example: Optimal control for a scalar linear system

In this lab, we are only concerned with software simulations to test optimal control design,
therefore, steps to design the control system are not described here. However, initial and final
equations obtained for the systems are as follows:

Optimal control

Optimal state trajectory

4|Page
Path Planning in Mobile Robots

Optimal performance index

Computer Simulation
In practical situations, the optimal control should be simulated to ensure that it results in acceptable
system behavior before it is applied to the physical system. Write a MATLAB® program for control
system designed above to find optimal control, state trajectory and performance index for given
parameters. Give the state trajectory and optimal control plots and analyze. Also, solve for guess values
of control function 𝑢𝑘 and compare the corresponding plots (on same figure) of state trajectory and
control function with optimal values, as well as value of performance index. Take initial state 𝑥0 = 0
and a desired final state of 𝑥𝑛 = 𝑟𝑁 = 10, system parameters a=0.99, b=0.2, and N=100.

5|Page