Optimal trajectory planning via chebyshev-based state parameterization

M. Nagurka, S. Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-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
Title of host publicationProceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages265-270
Number of pages6
ISBN (Electronic)9780000000002
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

Publication series

NameProceedings of the IEEE International Workshop on Intelligent Motion Control, IMC 1990
Volume1

Conference

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

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