References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: Time-Optimal Control for High-Order Chain-of-Integrators Systems with Full State Constraints and Arbitrary Terminal States (Extended Version)
(Submitted on 13 Nov 2023 (v1), last revised 28 Mar 2024 (this version, v4))
Abstract: Time-optimal control for high-order chain-of-integrators systems with full state constraints and arbitrarily given terminal states remains a challenging problem in the optimal control theory domain, yet to be resolved. To enhance further comprehension of the problem, this paper establishes a novel notation system and theoretical framework, providing the switching manifold for high-order problems in the form of switching laws. Through deriving properties of switching laws regarding signs and dimension, this paper proposes a definite condition for time-optimal control. Guided by the developed theory, a trajectory planning method named the manifold-intercept method (MIM) is developed. The proposed MIM can plan time-optimal jerk-limited trajectories with full state constraints, and can also plan near-optimal non-chattering higher-order trajectories with negligible extra motion time compared to optimal profiles. Numerical results indicate that the proposed MIM outperforms all baselines in computational time, computational accuracy, and trajectory quality by a large gap.
Submission history
From: Yunan Wang [view email][v1] Mon, 13 Nov 2023 02:42:43 GMT (3523kb,D)
[v2] Mon, 25 Mar 2024 07:35:27 GMT (4694kb,D)
[v3] Tue, 26 Mar 2024 13:34:43 GMT (4694kb,D)
[v4] Thu, 28 Mar 2024 04:24:46 GMT (4903kb,D)
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