Modified SOMA for Optimal Control Problem

This paper is addressed to application of SOMA to the optimal control problem of a group of objects with static and dynamic phase constraints. The optimization problem is not convex and unimodal. In the practical part a synthesized optimal control problem is considered. Firstly, it is necessary to solve a control synthesis problem to stabilize each object relatively a point on the state space. To solve the synthesis problem a network operator method was used. For each control object the coordinates of some stabilization points were found. While moving from point to point in given time interval all objects reach their terminal states without violation of constraints and with optimal quality criterion. A modified SOMA is proposed for the search of stabilization points. © 2019 IEEE.

Авторы
DIveev A. 1 , Sofronova E.2 , Shmalko E. 2
Сборник материалов конференции
Издательство
Institute of Electrical and Electronics Engineers Inc.
Язык
Английский
Страницы
2894-2899
Статус
Опубликовано
Номер
8790359
Год
2019
Организации
  • 1 Dept. of Robotics Contr. Fed. Res. Ctr. 'Comp. Sci. and Contr.' of Russ. Acad. of Sci. Dept. of Mechanics and Mechatronics, RUDN University, Moscow, Russian Federation
  • 2 Department of Robotic Control Federal Research Center, 'Computer Science and Control' of Russian Academy of Sciences, Moscow, Russian Federation
Ключевые слова
control of robotic team; evolutionary computation; Optimal control problem
Дата создания
24.12.2019
Дата изменения
20.05.2021
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/55201/
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