Sensitivity Analysis and Real-Time Control of a Container Crane under State Constraints

Dirk Augustin and Helmut Maurer
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Dirk Augustin: Westfälische Wilhelms-Universität Münster, Institut für Numerische Mathematik
Helmut Maurer: Westfälische Wilhelms-Universität Münster, Institut für Numerische Mathematik

A chapter in Online Optimization of Large Scale Systems, 2001, pp 69-82 from Springer

Abstract: Abstract The sensitivity analysis for state constrained optimal control problems [7, 8] is illustrated by a practically relevant problem: the optimal control of a container crane based on a model developed in [12]. The container crane is subject to a state constraint on the vertical velocity. The multiple shooting method is used to determine a highly precise nominal solution which is still lacking in the literature. Second order sufficient conditions are checked by showing that an associated Riccati equation has a bounded solution. Sensitivity differentials of optimal solutions are computed with respect to perturbations in the swing angle and velocity. This allows for a fast computation of real-time approximations of perturbed optimal solutions.

Date: 2001
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-662-04331-8_4

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DOI: 10.1007/978-3-662-04331-8_4

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