We describe an algorithm for computing the value function for “all source, single destination” discrete-time nonlinear optimal control problems together with approximations of associated globally optimal control strategies. The method is based on a set oriented approach for the discretization of the problem in combination with graph-theoretic techniques. The central idea is that a discretization of phase space of the given problem leads to an (all source, single destination) shortest path problem on a finite graph. The method is illustrated by two numerical examples, namely a single pendulum on a cart and a parametrically driven inverted double pendulum.
Keywords: global optimal control, value function, set oriented method, shortest path
@article{COCV_2004__10_2_259_0,
author = {Junge, Oliver and Osinga, Hinke M.},
title = {A set oriented approach to global optimal control},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
pages = {259--270},
year = {2004},
publisher = {EDP Sciences},
volume = {10},
number = {2},
doi = {10.1051/cocv:2004006},
mrnumber = {2083487},
zbl = {1072.49014},
language = {en},
url = {https://www.numdam.org/articles/10.1051/cocv:2004006/}
}
TY - JOUR AU - Junge, Oliver AU - Osinga, Hinke M. TI - A set oriented approach to global optimal control JO - ESAIM: Control, Optimisation and Calculus of Variations PY - 2004 SP - 259 EP - 270 VL - 10 IS - 2 PB - EDP Sciences UR - https://www.numdam.org/articles/10.1051/cocv:2004006/ DO - 10.1051/cocv:2004006 LA - en ID - COCV_2004__10_2_259_0 ER -
%0 Journal Article %A Junge, Oliver %A Osinga, Hinke M. %T A set oriented approach to global optimal control %J ESAIM: Control, Optimisation and Calculus of Variations %D 2004 %P 259-270 %V 10 %N 2 %I EDP Sciences %U https://www.numdam.org/articles/10.1051/cocv:2004006/ %R 10.1051/cocv:2004006 %G en %F COCV_2004__10_2_259_0
Junge, Oliver; Osinga, Hinke M. A set oriented approach to global optimal control. ESAIM: Control, Optimisation and Calculus of Variations, Tome 10 (2004) no. 2, pp. 259-270. doi: 10.1051/cocv:2004006
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