J.-S. Hong, M.-J. Kim, S.-G. Oh, C.-J. Kim

This paper treats the State Dependent Matrix Exponential(SDME) technique to solve real time nonlinear optimal control problem. Nonlinear optimal control problem can be trasfored to the Nonlinear Programming (NLP) problem through Direct Multiple Shooting(DMS) technique. And the NLP problem can be resolved by using Quadratic Programming(QP) problem iteratively. Generally calculation of gradients and hessian matrix of the Karush-Kuhn-Tucker(KKT) system for the sequential quadratic programming(SQP) problem is most time-consuming routine in OMS framework. However the required function values to obtain matrices of KKT system can be expressed with integrals involving matrix exponentials without resorting to time integration. Therefore the SOME technique can reduce computational time, increase efficiency and accuracy of nonliear optimal control analysys for real time application of nonlinear optimal controller. The results of optimal control problem using the SOME method are compared with the other method in order to verify the computaional efficience and accuracy.

35th European Rotorcraft Forum 2009,

Conference Paper

englisch

21,0 x 29,7 cm, 13 Seiten

DGLR-Bericht, 2009, 2009-03, 35th European Rotorcraft Forum 2009 - Conference Proceedings; S.1-13; 2009; Deutsche Gesellschaft für Luft- und Raumfahrt - Lilienthal-Oberth e.V., Bonn

NA

in getr. Zählung;

controllers, optimization, rotorcrafts

Bestellbar

2009