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- I. Michael Ross, Fariba Fahroo
- Mathematical and Computer Modelling
- 2006

Under appropriate conditions, the dynamics of a control system governed by ordinary differential equations can be formulated in several ways: differential inclusion, control parametrization, flatness parametrization, higher-order inclusions and so on. A plethora of techniques have been proposed for each of these formulations but they are typically not… (More)

A central computational issue in solving infinite-horizon nonlinear optimal control problems is the treatment of the horizon. In this paper, we directly address this issue by a domain transformation technique that maps the infinite horizon to a finite horizon. The transformed finite horizon serves as the computational domain for an application of… (More)

- Qi Gong, I. Michael Ross, Wei Kang, Fariba Fahroo
- Comp. Opt. and Appl.
- 2008

- Qi Gong, Fariba Fahroo, Michael Ross
- 2004

Recent convergence results with pseudospectral methods are exploited to design a robust, multigrid, spectral algorithm for computing optimal controls. The design of the algorithm is based on using the pseudospectral differentiation matrix to locate switches, kinks, corners, and other discontinuities that are typical when solving practical optimal control… (More)

We consider nonlinear optimal control problems with mixed state-control constraints. A discretization of the Bolza problem by a Legendre pseudospec-tral method is considered. It is shown that the operations of discretization and dual-ization are not commutative. A set of Closure Conditions are introduced to commute these operations. An immediate consequence… (More)

A class of computational methods for solving a wide variety of optimal control problems is presented; these problems include nonsmooth, nonlinear, switched optimal control problems, as well as standard multiphase problems. Methods are based on pseudospectral approximations of the differential constraints that are assumed to be given in the form of… (More)

- I. Michael Ross, Fariba Fahroo
- IEEE Trans. Automat. Contr.
- 2004

Proof: The solution for the x2 component of the system with additive impulses can be written explicitly as x2 (t) = e (k+1)h02t x2 (0) 8t 2 (kh; (k + 1)h] : (31) Indeed, for this signal we have _ x2 = 02x2 on the intervals (kh; (k + 1)h], k 0; and at times kh, k 0 we have that x2 (kh) + d k = e kh02kh x2(0) + (1 0 e 0h)e 0(k01)h x2(0) = e 0(k01)h x 2 (0) =… (More)

- Yutaka Kanayama, Fariba Fahroo
- ICRA
- 1997

Recently, the Legendre pseudospectral (PS) method migrated from theory to flight application onboard the International Space Station for performing a finite-horizon, zero-propellant maneuver. A small technical modification to the Legendre PS method is necessary to manage the limiting conditions at infinity for infinite-horizon optimal control problems.… (More)

— Infinite-horizon, nonlinear, optimal, feedback control is one of the fundamental problems in control theory. In this paper we propose a solution for this problem based on recent progress in real-time optimal control. The basic idea is to perform feedback implementations through a domain transformation technique and a Radau based pseudospectral method. Two… (More)