Optimal Control using Composite Bernstein Approximants
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866911967220858880 |
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| author | MacLin, Gage Cichella, Venanzio Patterson, Andrew Acheson, Michael Gregory, Irene |
| author_facet | MacLin, Gage Cichella, Venanzio Patterson, Andrew Acheson, Michael Gregory, Irene |
| contents | In this work, we present composite Bernstein polynomials as a direct collocation method for approximating optimal control problems. An analysis of the convergence properties of composite Bernstein polynomials is provided, and beneficial properties of composite Bernstein polynomials for the solution of optimal control problems are discussed. The efficacy of the proposed approximation method is demonstrated through a bang-bang example. Lastly, we apply this method to a motion planning problem, offering a practical solution that emphasizes the ability of this method to solve complex optimal control problems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_18081 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Optimal Control using Composite Bernstein Approximants MacLin, Gage Cichella, Venanzio Patterson, Andrew Acheson, Michael Gregory, Irene Optimization and Control Numerical Analysis Systems and Control In this work, we present composite Bernstein polynomials as a direct collocation method for approximating optimal control problems. An analysis of the convergence properties of composite Bernstein polynomials is provided, and beneficial properties of composite Bernstein polynomials for the solution of optimal control problems are discussed. The efficacy of the proposed approximation method is demonstrated through a bang-bang example. Lastly, we apply this method to a motion planning problem, offering a practical solution that emphasizes the ability of this method to solve complex optimal control problems. |
| title | Optimal Control using Composite Bernstein Approximants |
| topic | Optimization and Control Numerical Analysis Systems and Control |
| url | https://arxiv.org/abs/2407.18081 |