Differential dynamic programming technique for optimal control

Differential dynamic programming technique for optimal control

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Article ID: iaor1995319
Country: United Kingdom
Volume: 15
Issue: 2
Start Page Number: 77
End Page Number: 100
Publication Date: Apr 1994
Journal: Optimal Control Applications & Methods
Authors: ,
Keywords: control processes
Abstract:

Continuous- and discrete-time differential dynamic programming (DDP) approaches to solve general optimal control problems are described and analysed. A comparison of the two approaches shows the continuous-time approach to be more general and flexible compared with the discrete-time approach, since it is not tied to any discretization scheme. A comparison of DDP with the non-linear programming (NLP) approach is also given. Three structural control problems-a linear model of a space structure, a single degree of freedom non-linear impact absorber and a non-linear flexible beam subjected to an impulsive load-are used to numerically evaluate the continuous- and discrete-time DDP approaches. Several grid sizes are used to show that the continuous-time approach with a reasonable number of grid points is more accurate and efficient (in most cases) than the discrete-time approach. It is therefore recommended to fully develop and evaluate the technique for the optimal control of large-scale systems.

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