Numerical treatment of the bounded-control LQR problem by updating the final phase value

J. A. GÓMEZ MÚNERA; COSTANZA, V; P. S. RIVADENEIRA

Córdoba

Congreso; RPIC2015; 2015

UNC-UTN

A novel approach has been developed for approximately solving theconstrained LQR problem, based on updating the final state and costate of an unrestricted related regular problem, and the switching times (when thecontrol meets the constraints). The main result is the expression of a suboptimal control in feedback form by using some corresponding Riccatiequation. The gradient method is applied to reduce the cost via explicitalgebraic formula for its partial derivatives with respect to the hiddenfinal state/costate of the related regular problem. The numerical methodresults efficient because it does not involve integrations of states or costtrajectories and reduces the dimension of the relevant unknown parameters.All the relevant objects are calculated from a few auxiliary matrices, which are computed only once and kept in memory. The scheme is here applied to the `cheapest stop of a train' case-study whose optimal solution is already known.