TY - GEN
T1 - A tutorial for applying DMOC to solve optimization control problems
AU - Zhang, Weizhong
AU - Inanc, Tamer
PY - 2010
Y1 - 2010
N2 - This paper presents a detailed procedure to apply newly-proposed DMOC (Discrete Mechanics and Optimal Control) methodology to solve optimal control problems. DMOC is based on a direct discretization of Lagrange-d' Alembert principle for a system. First, this tutorial explains the principle of DMOC, and how to formulate the problem in DMOC. Next the steps are shown about how to install and configure nonlinear programming solver IPOPT, and how to use the modeling language AMPL. In particular, the user-defined function is involved with AMPL to solve a more complicated problem. Furthermore, a glider example is provided in this tutorial to solve optimal control problem with the user-defined 2D time-varying B-spline ocean current model. The ocean current original data was collected by HF-Radar stations located around Monterey Bay, CA in August 2000. Practically, this tutorial is shown how to use DMOC to solve optimal control problems with IPOPT and AMPL as the components. The possible users are robotic researchers, control system engineers, operations management researchers, and so on.
AB - This paper presents a detailed procedure to apply newly-proposed DMOC (Discrete Mechanics and Optimal Control) methodology to solve optimal control problems. DMOC is based on a direct discretization of Lagrange-d' Alembert principle for a system. First, this tutorial explains the principle of DMOC, and how to formulate the problem in DMOC. Next the steps are shown about how to install and configure nonlinear programming solver IPOPT, and how to use the modeling language AMPL. In particular, the user-defined function is involved with AMPL to solve a more complicated problem. Furthermore, a glider example is provided in this tutorial to solve optimal control problem with the user-defined 2D time-varying B-spline ocean current model. The ocean current original data was collected by HF-Radar stations located around Monterey Bay, CA in August 2000. Practically, this tutorial is shown how to use DMOC to solve optimal control problems with IPOPT and AMPL as the components. The possible users are robotic researchers, control system engineers, operations management researchers, and so on.
KW - AMPL
KW - Discrete mechanics
KW - IPOPT
KW - Optimal control
KW - Tutorial
UR - https://www.scopus.com/pages/publications/78751524815
U2 - 10.1109/ICSMC.2010.5642279
DO - 10.1109/ICSMC.2010.5642279
M3 - Conference contribution
AN - SCOPUS:78751524815
SN - 9781424465880
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1857
EP - 1862
BT - 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
T2 - 2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010
Y2 - 10 October 2010 through 13 October 2010
ER -