Imperial College London
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DrThulasiMylvaganam

Faculty of Engineering, Department of Aeronautics

Senior Lecturer in Control Engineering
 
 
 
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Contact

 

+44 (0)20 7594 5129t.mylvaganam

 
 
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Location

 

221City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Sassano:2023:10.1109/tac.2022.3230764,
author = {Sassano, M and Mylvaganam, T},
doi = {10.1109/tac.2022.3230764},
journal = {IEEE Transactions on Automatic Control},
pages = {5954--5965},
title = {Finite-dimensional characterisation of optimal control laws over an infinite horizon for nonlinear systems},
url = {http://dx.doi.org/10.1109/tac.2022.3230764},
volume = {68},
year = {2023}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Infinite-horizon optimal control problems for nonlinear systems are considered. Due to the nonlinear and intrinsically infinite-dimensional nature of the task, solving such optimal control problems is challenging. In this paper an exact finite-dimensional characterisation of the optimal solution over the entire horizon is proposed. This is obtained via the (static) minimisation of a suitably defined function of (projected) trajectories of the underlying Hamiltonian dynamics on a hypersphere of fixed radius. The result is achieved in the spirit of the so-called shooting methods by introducing, via simultaneous forward/backward propagation, an intermediate shooting point much closer to the origin, regardless of the actual initial state. A modified strategy allows one to determine an arbitrarily accurate approximate solution by means of standard gradient-descent algorithms over compact domains. Finally, to further increase robustness of the control law, a receding-horizon architecture is envisioned by designing a sequence of shrinking hyperspheres. These aspects are illustrated by means of a benchmark numerical simulation.
AU  - Sassano,M
AU  - Mylvaganam,T
DO  - 10.1109/tac.2022.3230764
EP  - 5965
PY  - 2023///
SN  - 0018-9286
SP  - 5954
TI  - Finite-dimensional characterisation of optimal control laws over an infinite horizon for nonlinear systems
T2  - IEEE Transactions on Automatic Control
UR  - http://dx.doi.org/10.1109/tac.2022.3230764
UR  - https://ieeexplore.ieee.org/document/9993806
UR  - http://hdl.handle.net/10044/1/101554
VL  - 68
ER  -
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