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Zermelo Navigation Problem with State Constraintsтезисы доклада
- Авторы: SMIRNOVA N.V., MALYKH EGOR, CHERKASOV OLEG
- Сборник: DSTA-2021 Conference Books – Abstracts
- Том: 1
- Тезисы
- Год издания: 2021
- Место издания: Lodz University of Technology Press
- Первая страница: 150
- Последняя страница: 151
- DOI: 10.34658/9788366741201
- Аннотация: Abstract: The article uses the example of the Zermelo navigation problem to illustrate a simpleway to address state constraints of a certain type. The problem of planning time-minimumtrajectory of an autonomous aircraft operating in a steady, homogeneous flow field is considered.The simple particle model of the aircraft is considered. The particle moves in a horizontalplane with a constant modulus velocity relative to the flow of the medium. The angular velocityof rotation of the particle velocity vector is considered as the control variable. The anglebetween the velocity vector and the horizontal axis is subjected to a phase constraint. Thestructure of the dynamic system allows to reduce the optimal problem to the problem of asmaller dimension. In reduced problem the state constraints transform to the constraints on thecontrol variables. For the reduced problem, the optimal synthesis is designed. Next, for theoriginal problem, the sequence and the number of the arcs with motion along state constraintsare determined. The control law in the initial problem is established.
- Добавил в систему: Черкасов Олег Юрьевич