A computational method for solving time-delay optimal control problems with free terminal time
This paper considers a class of optimal control problems for general nonlinear time-delay systems with free terminal time. We first show that for this class of problems, the well-known time-scaling transformation for mapping the free time horizon into a fixed time interval yields a new time-delay sy...
| Main Authors: | , , |
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| Format: | Journal Article |
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Elsevier BV
2014
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| Online Access: | http://purl.org/au-research/grants/arc/DP140100289 http://hdl.handle.net/20.500.11937/47650 |
| _version_ | 1848757891646881792 |
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| author | Liu, C. Loxton, Ryan Teo, Kok Lay |
| author_facet | Liu, C. Loxton, Ryan Teo, Kok Lay |
| author_sort | Liu, C. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper considers a class of optimal control problems for general nonlinear time-delay systems with free terminal time. We first show that for this class of problems, the well-known time-scaling transformation for mapping the free time horizon into a fixed time interval yields a new time-delay system in which the time delays are variable. Then, we introduce a control parameterization scheme to approximate the control variables in the new system by piecewise-constant functions. This yields an approximate finite-dimensional optimization problem with three types of decision variables: the control heights, the control switching times, and the terminal time in the original system (which influences the variable time delays in the new system). We develop a gradient-based optimization approach for solving this approximate problem. Simulation results are also provided to demonstrate the effectiveness of the proposed approach. |
| first_indexed | 2025-11-14T09:35:18Z |
| format | Journal Article |
| id | curtin-20.500.11937-47650 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:35:18Z |
| publishDate | 2014 |
| publisher | Elsevier BV |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-476502022-10-12T02:43:17Z A computational method for solving time-delay optimal control problems with free terminal time Liu, C. Loxton, Ryan Teo, Kok Lay Control parameterization Time-delay system Nonlinear optimization Free terminal time Optimal control This paper considers a class of optimal control problems for general nonlinear time-delay systems with free terminal time. We first show that for this class of problems, the well-known time-scaling transformation for mapping the free time horizon into a fixed time interval yields a new time-delay system in which the time delays are variable. Then, we introduce a control parameterization scheme to approximate the control variables in the new system by piecewise-constant functions. This yields an approximate finite-dimensional optimization problem with three types of decision variables: the control heights, the control switching times, and the terminal time in the original system (which influences the variable time delays in the new system). We develop a gradient-based optimization approach for solving this approximate problem. Simulation results are also provided to demonstrate the effectiveness of the proposed approach. 2014 Journal Article http://hdl.handle.net/20.500.11937/47650 10.1016/j.sysconle.2014.07.001 http://purl.org/au-research/grants/arc/DP140100289 Elsevier BV fulltext |
| spellingShingle | Control parameterization Time-delay system Nonlinear optimization Free terminal time Optimal control Liu, C. Loxton, Ryan Teo, Kok Lay A computational method for solving time-delay optimal control problems with free terminal time |
| title | A computational method for solving time-delay optimal control problems with free terminal time |
| title_full | A computational method for solving time-delay optimal control problems with free terminal time |
| title_fullStr | A computational method for solving time-delay optimal control problems with free terminal time |
| title_full_unstemmed | A computational method for solving time-delay optimal control problems with free terminal time |
| title_short | A computational method for solving time-delay optimal control problems with free terminal time |
| title_sort | computational method for solving time-delay optimal control problems with free terminal time |
| topic | Control parameterization Time-delay system Nonlinear optimization Free terminal time Optimal control |
| url | http://purl.org/au-research/grants/arc/DP140100289 http://hdl.handle.net/20.500.11937/47650 |