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An indirect numerical method for the solution of a class of optimal control problems with singular arcs

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1 Author(s)
G. Anderson ; Air Force Institute of Technology, Wright-Patterson AFB, OH, USA

An indirect numerical method is presented that solves a class of optimal control problems that have a singular arc occurring after an initial nonsingular arc. This method iterates on the subset of initial costate variables that enforce the junction conditions for switching to a singular arc, and the time of switching off of the singular arc to a final nonsingular arc, to reduce a terminal error function of the final conditions to zero. This results in the solution to the two-point boundary-value problem obtained using the minimum principle and some necessary conditions for singular arcs. The main advantage of this method is that the exact solution to the two-point boundary-value problem is obtained. The main disadvantage is that the sequence of controls for the problem must be known to apply this method. Two illustrative examples are presented.

Published in:

IEEE Transactions on Automatic Control  (Volume:17 ,  Issue: 3 )