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On Combining Neighbouring Extremals With Control Parameterization, Chongyang Liu, Qun Lin, Ryan Loxton, Kok Lay Teo
On Combining Neighbouring Extremals With Control Parameterization, Chongyang Liu, Qun Lin, Ryan Loxton, Kok Lay Teo
Chongyang Liu
In this paper, we consider the neighbouring extremals for a class of optimal control problems with control constraints. We first solve the optimal control problem using control parameterization method to obtain the optimal open-loop control and the optimal reference state. Then, a neighbouring feedback control law is derived for small state perturbations caused by changes on reference state at switching times.