Real-time outer and inner loop optimal control using DIDO
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In this paper we design two levels of control structure, outer loop and inner loop control, to enhance the robustness of real-time optimal control. The optimal control is efficiently solved by a pseudospectral method using the code DIDO. An extended Kalman filter is used to estimate states to simulate real-time optimal control. The ways to improve computation speed are investigated. We use a classic constrained inverted pendulum problem to demonstrate our control approach. The results show the inverted pendulum can be stabilized very well in real-time using a commercial computer to perform all the computations.
author list (cited authors)
Yan, H., Lee, D., Ross, I. M., & Alfriend, K. T.