Fast Solution of Optimal Control Problems with L1 Cost
Conference Paper, Proceedings of AAS/AIAA Astrodynamics Specialist Conference, August, 2019
Abstract
We propose a fast algorithm for solving optimal control problems with L1 control cost. Convergence to the global optimum is guaranteed for systems with linear dynamics, and the algorithm can also be used to find local optima for nonlinear dynamical systems. Our approach relies on the alternating direction method of multipliers (ADMM) and uses a fast trajectory optimization solver based on iterative LQR. The low computational complexity coupled with the fast execution of this algorithm make it suitable for implementation in flight software.
BibTeX
@conference{Le-2019-122096,author = {Simon Le Cleach and Zac Manchester},
title = {Fast Solution of Optimal Control Problems with L1 Cost},
booktitle = {Proceedings of AAS/AIAA Astrodynamics Specialist Conference},
year = {2019},
month = {August},
}
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