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Lossless Convexification of Control Constraints for a Class of Nonlinear Optimal Control ProblemsIn this paper we consider a class of optimal control problems that have continuous-time nonlinear dynamics and nonconvex control constraints. We propose a convex relaxation of the nonconvex control constraints, and prove that the optimal solution to the relaxed problem is the globally optimal solution to the original problem with nonconvex control constraints. This lossless convexification enables a computationally simpler problem to be solved instead of the original problem. We demonstrate the approach in simulation with a planetary soft landing problem involving a nonlinear gravity field.
Document ID
20140001972
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Blackmore, Lars
(Space Exploration Technologies Corp. Hawthorne, CA, United States)
Acikmese, Behcet
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Carson, John M.,III
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
March 17, 2014
Publication Date
June 27, 2012
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: International Federation of Automatic Control (IFAC) 2012 American Control Conference (ACC)
Location: Montreal
Country: Canada
Start Date: June 27, 2012
End Date: June 29, 2012
Sponsors: International Federation of Automatic Control
Distribution Limits
Public
Copyright
Other
Keywords
planetary soft landing
planetary landing
unmanned aerial vehicle (UAV)
nonconvex control constraints

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