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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.06167 |
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| _version_ | 1866917609907159040 |
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| author | Tang, Jiawei Zhong, Yuxing Wang, Pengyu Chen, Xingzhou Wu, Shuang Shi, Ling |
| author_facet | Tang, Jiawei Zhong, Yuxing Wang, Pengyu Chen, Xingzhou Wu, Shuang Shi, Ling |
| contents | Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programming solvers. However, conventional direct shooting raises a contradictory dynamics issue when using an augmented state to handle {high-order} systems. This paper fills the research gap by considering the direct shooting method for {high-order} systems. We derive the modified Euler and Runge-Kutta-4 methods to transcribe the system dynamics constraint directly. Additionally, we provide the global error upper bounds of our proposed methods. A set of benchmark optimal control problems shows that our methods provide more accurate solutions than existing approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_06167 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach Tang, Jiawei Zhong, Yuxing Wang, Pengyu Chen, Xingzhou Wu, Shuang Shi, Ling Systems and Control Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programming solvers. However, conventional direct shooting raises a contradictory dynamics issue when using an augmented state to handle {high-order} systems. This paper fills the research gap by considering the direct shooting method for {high-order} systems. We derive the modified Euler and Runge-Kutta-4 methods to transcribe the system dynamics constraint directly. Additionally, we provide the global error upper bounds of our proposed methods. A set of benchmark optimal control problems shows that our methods provide more accurate solutions than existing approaches. |
| title | Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.06167 |