TY - GEN
T1 - Minimum Time Optimal Control of Second Order System with Quadratic Drag and State Constraints
AU - Taitler, Ayal
AU - Ioslovich, Ilya
AU - Karpas, Erez
AU - Gutman, Per Olof
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12/1
Y1 - 2019/12/1
N2 - The problem of mixed discrete-continuous task planning for mechanical systems, such as aerial drones or other autonomous units, can often be treated as a sequence of point-to-point trajectories. The minimum time optimal solution between points in the plan is critical not only for the calculation of the trajectory in cases where the goal has to be achieved quickly but also for the feasibility checking of the plan and the planning process itself, especially in the presence of deadlines and temporal constraint. In this work, we address the minimum time problem for a second-order system with quadratic drag, under state (velocity) and control (acceleration) constraints. Closed-form expressions for the trajectory are derived and the optimality is proven using the Pontryagin Maximum Principle. Simulations supporting the results are provided and compared with those of an open source academic optimal control solver.
AB - The problem of mixed discrete-continuous task planning for mechanical systems, such as aerial drones or other autonomous units, can often be treated as a sequence of point-to-point trajectories. The minimum time optimal solution between points in the plan is critical not only for the calculation of the trajectory in cases where the goal has to be achieved quickly but also for the feasibility checking of the plan and the planning process itself, especially in the presence of deadlines and temporal constraint. In this work, we address the minimum time problem for a second-order system with quadratic drag, under state (velocity) and control (acceleration) constraints. Closed-form expressions for the trajectory are derived and the optimality is proven using the Pontryagin Maximum Principle. Simulations supporting the results are provided and compared with those of an open source academic optimal control solver.
UR - http://www.scopus.com/inward/record.url?scp=85082461409&partnerID=8YFLogxK
U2 - 10.1109/CDC40024.2019.9029668
DO - 10.1109/CDC40024.2019.9029668
M3 - Conference contribution
AN - SCOPUS:85082461409
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 523
EP - 528
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -