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A Splitting Method for Optimal Control

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3 Author(s)
O'Donoghue, B. ; Electr. Eng. Dept., Stanford Univ., Stanford, CA, USA ; Stathopoulos, G. ; Boyd, S.

We apply an operator splitting technique to a generic linear-convex optimal control problem, which results in an algorithm that alternates between solving a quadratic control problem, for which there are efficient methods, and solving a set of single-period optimization problems, which can be done in parallel, and often have analytical solutions. In many cases, the resulting algorithm is division-free (after some off-line pre-computations) and can be implemented in fixed-point arithmetic, for example on a field-programmable gate array (FPGA). We demonstrate the method on several examples from different application areas.

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Control Systems Technology, IEEE Transactions on  (Volume:21 ,  Issue: 6 )