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This paper proposes a gradient-based iterative algorithm for optimal co-design of a linear physical plant and a controller. The proposed algorithm does not rely on the common linear parameterization assumption, and thus is applicable to a broader class of problems. The convergence of the algorithm and the verification procedure for a local minimum are given. Numerical examples show that our algorithm...
This brief studies the optimal codesign of nonlinear control systems: simultaneous design of physical plants and related optimal control policies. Nonlinearity of the optimal codesign problem could come from either a nonquadratic cost function or the plant. After formulating the optimal codesign into a nonconvex optimization problem, an iterative scheme is proposed in this brief by adding an additional...
This paper considers the planning of collision-free and energy-optimal trajectories for linear systems with decoupled dynamics for different degrees of freedom. A direct transcription of such a problem generally results in a non-convex problem due to the collision avoidance constraint. In this paper we propose a novel Alternating Quadratic Programming (AQP) algorithm to deal with the non-convex collision...
This paper considers co-design of nonlinear constrained control systems: simultaneous design of the nonlinear plant and control policy where the control is bounded. Similar to prior art, the co-design is attacked as a non-convex optimization problem, which is solved by using an improved policy iteration scheme. We have proved rigorously that the system performance can be improved after each step of...
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