Real Time Optimal Control of Mechanical Systems

In this work, we consider a real time optimal control problem of mechanical systems with restrictions for actuators i.e. input restrictions and constraints for the movable area i.e. state constraints. First, we formulate an optimal control problem which evaluates the cost function for a finite time horizon with input restrictions and state constraints of a wheeled vehicle as an example of mechanical systems. In this problem, the differentiability of the cost function is not required and this implies that the problem cannot be solved analytically. Therefore, in this work, we use an optimization method to solve the optimal control problem and a new real time optimization method is proposed to solve the problem. In this method, we provide a parameter that indicates the ...