Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis

Abstract : This article is dedicated to the analysis of quadratic optimal control of linear complementarity systems (LCS), which are a class of strongly nonlinear and nonsmooth dynamical systems. Necessary first-order conditions are derived, that take the form of an LCS with inequality constraints, hence are numerically tractable. Then two numerical solvers are proposed, for the direct and the indirect approaches. They take advantage of MPEC solvers for computations. Numerical examples illustrate the theoretical developments and demonstrate the efficiency of the approach.
Complete list of metadatas

Cited literature [49 references]  Display  Hide  Download

https://hal.inria.fr/hal-01690400
Contributor : Alexandre Vieira <>
Submitted on : Tuesday, January 23, 2018 - 9:21:31 AM
Last modification on : Wednesday, July 3, 2019 - 12:48:01 PM
Long-term archiving on: Thursday, May 24, 2018 - 11:27:56 AM

File

expl.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01690400, version 1

Citation

Alexandre Vieira, Bernard Brogliato, Christophe Prieur. Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis. 2018. ⟨hal-01690400v1⟩

Share

Metrics

Record views

46

Files downloads

15