D. Kontny and O. Stursberg, “Fast Optimizing Control for Non-Convex State Constraints using Homotopy Properties,” in 2016 IEEE 55th Conference on Decision and Control (CDC), vol. 2016, Institute of Electrical and Electronics Engineers, Ed. Red Hook, NY: Curran Associates, 2016, pp. 4894–4900.



IFor optimal point-to-point control of linear systems, this paper investigates how control strategies should be rendered online if non-convex state constraints are suddenly detected during execution. The challenge is to compute a modified strategy with low effort while maintaining a close-to-optimal control performance. The proposed solution is to synthesize offline a range of trajectories which are homotopic to the optimal unconstrained solution. Upon detection of the state constraints (which may represent an obstacle to be circumvented by a mobile vehicle), a sub-optimal yet feasible homotopic trajectory is selected by a fast iteration which avoids to solve a time-demanding constrained optimization problem online.



 AUTHOR={D. Kontny and O. Stursberg},
 TITLE={{Fast Optimizing Control for Non-Convex State Constraints using Homotopy Properties}},
 BOOKTITLE={Proc. 55th IEEE Conf. on Decision and Control},
 COMMENT={noch nicht gemeldet, ISBN: ?, ? Normseiten}}