A new transformation method which transforms the variable final time problem into a fixed final time problem is introduced. Then an improved gradient-type algorithm is developed to overcome the zero terminal gradient problem. It is shown that by applying this transformation and improved algorithm in two examples, not only are the variable final time and zero terminal gradient problems solved and the control vector updated in the correct direction, but the rate of convergence of the improved algorithm is faster than that of the traditional gradient-type algorithms.
|Original language||English (US)|
|Title of host publication||Proceedings of the American Control Conference|
|Publisher||American Automatic Control Council|
|Number of pages||7|
|State||Published - 1987|
ASJC Scopus subject areas
- Control and Systems Engineering