论文标题
机械系统最佳控制问题中速度收费的耗散表征
A Dissipativity Characterization of Velocity Turnpikes in Optimal Control Problems for Mechanical Systems
论文作者
论文摘要
Turnpikes最近在最佳控制方面获得了重大的研究兴趣，因为它们允许对解决方案的结构进行关键见解，以解决最佳控制问题。到目前为止，研究了主要是作为最佳操作点的稳态解决方案。这与本文的重点是时变的收费夹相反。更具体地说，我们分析了对称性诱导的速度收费夹，即受控的相对平衡，称为修剪原语，这是有关给定成本标准的最佳操作点。我们通过消散性不平等表征速度收费。此外，我们通过相应的必要最佳条件研究了最佳控制问题与稳态问题之间的等效性。给出了一个学术示例以进行插图。
Turnpikes have recently gained significant research interest in optimal control, since they allow for pivotal insights into the structure of solutions to optimal control problems. So far, mainly steady state solutions which serve as optimal operation points, are studied. This is in contrast to time-varying turnpikes, which are in the focus of this paper. More concretely, we analyze symmetry-induced velocity turnpikes, i.e. controlled relative equilibria, called trim primitives, which are optimal operation points regarding the given cost criterion. We characterize velocity turnpikes by means of dissipativity inequalities. Moreover, we study the equivalence between optimal control problems and steady-state problems via the corresponding necessary optimality conditions. An academic example is given for illustration.
