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首页> 外文会议>2018 IEEE/OES Autonomous Underwater Vehicle Workshop >An indirect numerical method for a time-optimal state-constrained control problem in a steady two-dimensional fluid flow
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An indirect numerical method for a time-optimal state-constrained control problem in a steady two-dimensional fluid flow

机译：二维稳态流体时间最优状态约束控制问题的间接数值方法

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This article concerns the problem of computing solutions to optimal control problems with state constraints and whose trajectory is also affected by known flow vector fields. This general mathematical framework is particularly pertinent to the requirements underlying the control of Autonomous Underwater Vehicles in realistic scenarii. The key contribution consists in devising a computational indirect method that becomes effective in the numerical computation of extremals to optimal control problems with state constraints by using multipliers of the Maximum Principle in the form of Gamkrelidze whose measure component is ensured to be continuous. The specific problem of time-optimal control of an Autonomous Underwater Vehicle in a bounded space set, subject to the effect of a flow field and with bounded actuation is used to illustrate the proposed approach. The corresponding numerical results are presented and discussed.
机译：本文涉及计算具有状态约束的最优控制问题的解决方案的问题，该问题的轨迹也受到已知流矢量场的影响。这个通用的数学框架与现实场景中的自动水下航行器控制的基本要求特别相关。关键的贡献在于，设计了一种间接计算方法，该方法通过使用Gamkrelidze形式的最大原理乘法器来确保对状态约束的最优控制问题有效地进行最优控制，该乘积的度量成分被确保是连续的。以有限空间集为基础的受约束水下空间中的自主水下航行器的时间最优控制的特定问题被用来说明所提出的方法。给出并讨论了相应的数值结果。

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