Abstract
We develop a barrier function method for the optimization of trajectory functionals with constraints. An approximate or relaxed barrier function is used to incorporate the trajectory constraints into an unconstrained trajectory functional that is minimized using a projection operator based Newton method. The proposed approach is a natural extension to infinite dimensions of the barrier function interior point method in convex optimization. The effectiveness of the approach is illustrated with minimum time optimal control problems under differing constraints
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 45th IEEE Conference on Decision and Control, 13-15 December 2006, San Diego, California |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 864-869 |
| Number of pages | 6 |
| ISBN (Print) | 1-4244-0171-2 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
Keywords
- Banach manifolds
- Newton methods
- constraints
- nonlinear optimal control
- nonlinear projection operator
- trajectory manifold
- trajectory optimization