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Tracking-in-range Formulations for Numerical Optimal Control

IFAC-PapersOnLine 2024年第18期58卷 53-58页

作者： Nikilesh Ramesh Eric C. Kerrigan Yuanbo Nie Interdisciplinary Programmes in Engineering University of Sheffield S10 2TN Sheffield UK Department of Electrical & Electronic Engineering and Department of Aeronautics Imperial College London SW7 2AZ London UK Department of Automatic Control and Systems Engineering University of Sheffield S10 2TN Sheffield UK

In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more suitable for the mission specifications of many practical applications. In this work, we present novel optimal control formulations to solve tracking-in-range problems, for problems requiring the tracker to be always in range, as well as problems allowing the tracker to go out of range, which yield overall better outcomes. Since the problem naturally involves discontinuous functions, we present alternative formulations and regularisation strategies to improve the performance of numerical solvers. The extension to in-range tracking with multiple trackers and in-range tracking in high-dimensional space are also discussed and illustrated with numerical examples, demonstrating substantial increases in mission performance in comparison to traditional set-point tracking.

关键词： Optimal Control Nonlinear Model Predictive Control Intelligent Vehicles

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Tracking-in-range Formulations for Numerical Optimal Control

arXiv

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arXiv 2024年

作者： Ramesh, Nikilesh Kerrigan, Eric C. Nie, Yuanbo Interdisciplinary Programmes in Engineering University of Sheffield SheffieldS10 2TN United Kingdom Department of Electrical & Electronic Engineering Department of Aeronautics Imperial College London LondonSW7 2AZ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS10 2TN United Kingdom

In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more suitable for the mission specifications of many practical applications. In this work, we present novel optimal control formulations to solve tracking-in-range problems, for both problems requiring the tracker to be always in range, and problems allowing the tracker to go out of range to yield overall better outcomes. As the problem naturally involves discontinuous functions, we present alternative formulations and regularisation strategies to improve the performance of numerical solvers. The extension to in-range tracking with multiple trackers and in-range tracking in high dimensional space are also discussed and illustrated with numerical examples, demonstrating substantial increases in mission duration in comparison to traditional set-point tracking. Copyright © 2024, The Authors. All rights reserved.

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