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Singular Optimal Control: Examples in The Script
Singular Optimal Control: Examples in The Script
6 v
k
.....
.....
...
ϕ(t).........
.
y(t) u
...
.
Flugzeug
e -
Ziel x(t)
State variables: x(t), y(t), ϕ(t). Control variable: u(t) = ϕ̇(t), |u(t)| ≤ 1.
Find u : [0, tb ] → [−1, 1], such that
⎡ ⎤ ⎡ ⎤
ẋ(t) v cos ϕ(t)
⎣ ẏ(t) ⎦ = ⎣ v sin ϕ(t) ⎦
ϕ̇(t) u(t)
⎡ ⎤ ⎡ ⎤
x(0) xa
⎣ y(0) ⎦ = ⎣ ya ⎦
ϕ(0) ϕa
⎡ ⎤ ⎡ ⎤
x(tb ) 0
⎣ y(tb ) ⎦ = ⎣ 0 ⎦
ϕ(tb ) frei
tb
J(u) = dt minimal.
0
Problem formulation in body-fixed coordinates:
vorne
6
x2 (t) e
v Ziel
u - rechts
Flugzeug x1 (t)