CONTROL OF CO-OPERATIVE SYSTEMS: THE RENDEZVOUS PROBLEM,
Abstract
A study of optimal rendezvous strategies for cooperative controlled systems is presented. By rendezvous, it is meant that the systems approach each other in such a way that the system's velocities and accelerations are the same when the positions become the same. A solution to the single-input problem, using the calculus of variations, is given when the performance index is the integrated-squareerror plus weighted control. A solution to the multi-input problem, using Pontryagin's Maximum Principle, is given for the same performance index. The performance index is rewritten in terms of the stacked state vectors. The rendezvous conditions are adjoined as constraints to the performance index using Lagrange multipliers. Due to the complexity of the problem, the control law will be open loop, in general.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jul 01, 1964
- Accession Number
- AD0603015
Entities
People
- Darrell L. Gieseking
Organizations
- University of Illinois Urbana–Champaign