Optimal Control using Composite Bernstein Approximants

Autor:	MacLin, Gage, Cichella, Venanzio, Patterson, Andrew, Acheson, Michael, Gregory, Irene
Rok vydání:	2024
Předmět:	Mathematics - Optimization and Control Electrical Engineering and Systems Science - Systems and Control Mathematics - Numerical Analysis
Druh dokumentu:	Working Paper
Popis:	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. Comment: This paper was accepted for publication at the 2024 63rd IEEE Conference on Decision and Control (CDC)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2407.18081 Zobrazit plný text záznamu View this record from Arxiv