Optimal trajectory planning via chebyshev-based state parameterization

M. Nagurka, S. Wang

Research output: Contribution to conferencePaperpeer-review

Abstract

Two state parameterization methods based on finite-term Chebyshev representations are developed to determine the optimal state and control trajectories of unconstrained linear timeinvariant dynamic systems with quadratic performance indices. In one method, each state variable of a dynamic system is approximated by a shifted Chebyshev series. In the second method, each state variable is represented by the superposition of a shifted Chebyshev series and a third order polynomial. In both approaches, the necessary and sufficient condition of optimality is derived as a system of linear algebraic equations. The results of simulation studies demonstrate that the Chebyshev-pluspolynomial method offers computational advantages relative to the direct Chebyshev method, a previous Chebyshev method and a state-transition approach.

Original languageEnglish
Pages265-270
Number of pages6
DOIs
StatePublished - 1 Jan 1990
Externally publishedYes
Event1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990 - Istanbul, Turkey
Duration: 20 Aug 199022 Aug 1990

Conference

Conference1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990
Country/TerritoryTurkey
CityIstanbul
Period20/08/9022/08/90

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Computer Science Applications
  • Artificial Intelligence

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