Optimal and Robust Control
B3M35ORR + BE3M35ORR + BE3M35ORC
Tento kurz je součástí již archivovaného semestru, a proto je dostupný pouze pro čtení.
Osnova sekce
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Numerical methods for continuous-time optimal control
- Indirect approaches to numerical optimal control - solving BVP
- Shooting and multiple shooting (iterating over the unknown boundary conditions)
- Gradient method (minimization of H by iterating over u)
- Quasi-linearisation
- Direct approaches to numerical optimal control - transcribing the optimal control problem into a nonlinear programming problem:
- Direct transcription
- Direct collocation
- Software for numerical optimal control: Acado, ...
- Indirect approaches to numerical optimal control - solving BVP