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Successive approximation method for non‐linear optimal control problems with application to a container crane problem
Author(s) -
Jaddu Hussein,
Vlach Milan
Publication year - 2002
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.713
Subject(s) - container (type theory) , mathematical optimization , optimal control , state (computer science) , sequence (biology) , quadratic programming , terminal (telecommunication) , linear programming , computer science , set (abstract data type) , sequential quadratic programming , optimization problem , active set method , feasible region , control (management) , control theory (sociology) , mathematics , nonlinear programming , nonlinear system , algorithm , engineering , mechanical engineering , telecommunications , physics , quantum mechanics , artificial intelligence , biology , genetics , programming language
A numerical method is proposed to solve a non‐linear optimal control problem with terminal state constraints, inequality state constraints and control saturation constraints. The method solves this problem directly and without employing penalty functions. First, the problem is reformulated, using the quasilinearization and the state parameterization techniques, into a sequence of quadratic programming problems. Then the resulting quadratic programming problems are solved by the active set method. The proposed method is applied to a practical optimal control problem of minimizing the swing angle of a container during its transfer from a ship to a truck. Copyright © 2002 John Wiley & Sons, Ltd.