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As a holistic approach, optimal co-design of a control system determines both the plant and controller simultaneously to optimize certain performance metrics. Prior co-design work typically assume a control system in the classic state space form, and thus compromise the range of applicability. This paper considers co-design for control systems in the linear descriptor form, with the purpose to minimize...
This paper considers real-time energy-optimal trajectory generation for a servomotor system that performs a single-axis point-to-point positioning task for a fixed time interval. The servomotor system is subject to acceleration and speed constraints. The trajectory generation is formulated as a linear-constrained optimal control problem (LCOCP), and the Pontryagin's maximum principle is applied to...
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 note considers the energy optimal trajectory generation of servo systems through open-loop optimal control design approach. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. The minimum principle is applied to establish piecewise necessary optimality conditions. An approximate optimal control is proposed to circumvent...
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