Computing of optimal inertial control with a linear system
Vladimir Mikhailovich Aleksandrov
Sobolev Institute Mathematics of SB RAS, 4 Acad. Koptyug avenue, 630090, Novosibirsk, Russia
Keywords: optimal control, speed, switching moment, inertial switching, non-inertial switching, phase trajectory
Abstract
Computing of time-optimal inertial control amounts to solving the three problems: 1) computing of optimal control on the assumption that the control is without inertia; 2) finding the optimal switching time of the control; 3) calculating of the error induced by the time lag of the control followed by correcting the control time and switching moments. Characteristics of the problems are considered and methods of their solution are given. A way of assignment of initial approximation is presented. A computational algorithm, results of modeling and numerical computations are performed.
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