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

Authors
  • Vieira, Alexandre
  • Brogliato, Bernard
  • Prieur, Christophe
Publication Date
Apr 18, 2018
Source
Kaleidoscope Open Archive
Keywords
Language
English
License
Unknown
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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.

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