Optimal Control using Composite Bernstein Approximants
Optimization and Control
2024-07-26 v1 Numerical Analysis
Systems and Control
Systems and Control
Numerical Analysis
Abstract
In this work, we present composite Bernstein polynomials as a direct collocation method for approximating optimal control problems. An analysis of the convergence properties of composite Bernstein polynomials is provided, and beneficial properties of composite Bernstein polynomials for the solution of optimal control problems are discussed. The efficacy of the proposed approximation method is demonstrated through a bang-bang example. Lastly, we apply this method to a motion planning problem, offering a practical solution that emphasizes the ability of this method to solve complex optimal control problems.
Cite
@article{arxiv.2407.18081,
title = {Optimal Control using Composite Bernstein Approximants},
author = {Gage MacLin and Venanzio Cichella and Andrew Patterson and Michael Acheson and Irene Gregory},
journal= {arXiv preprint arXiv:2407.18081},
year = {2024}
}
Comments
This paper was accepted for publication at the 2024 63rd IEEE Conference on Decision and Control (CDC)