A Time-Freezing Approach for Numerical Optimal Control of Nonsmooth Differential Equations With State Jumps
نویسندگان
چکیده
We present a novel reformulation of nonsmooth differential equations with state jumps enabling their easier simulation and use in optimal control problems without the need for integer variables. The main idea is to introduce an auxiliary equation mimic jump map. Thereby, clock introduced which does not evolve during runtime system. pieces trajectory that correspond parts when was evolving recover solution original system jumps. Our results ordinary where discontinuity first time derivative trajectory, rather than itself. This class systems handle both theoretically numerically. suitable partially elastic mechanical impact problems. provide numerical examples demonstrating ease this control. In example, we solve sequence nonlinear programming (NLPs) homotopy penalization approach time-optimal
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ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2021
ISSN: ['2475-1456']
DOI: https://doi.org/10.1109/lcsys.2020.3003419