An Iterative method for Solving the Container Crane Constrained Optimal Control Problem Using Chebyshev Polynomials
نویسندگان
چکیده
Abstract— In this paper, a computational method for solving constrained nonlinear optimal control problems is presented with an application to the container crane. The method is based on Banks' et al. iterative approach, in which the nonlinear system state equations are replaced by a sequence of time-varying linear systems. Therefore, The constrained nonlinear optimal control problem can be converted into sequence of constrained time varying linear quadratic optimal control problems. Combining this iterative approach with parameterization of the state variables using Chebyshev polynomials will result in converting the hard constrained nonlinear optimal control problem into sequence of quadratic programming problems. To show the performance and the behavior of this method compared with other known approaches, we apply it on a practical problem namely the container crane problem and the simulation results are presented and compared with other methods.
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