Constrained Optimal Control: Theory and Practice
In the first part of the talk constrained optimal control problems for discrete-time systems will be addressed. The standard theory of Linear
Quadratic Regulator will be extended in several directions. In particular I will discuss optimal control problems for linear and hybrid systems
with linear constraints on states and inputs. I will demonstrate that such optimal controllers are, in general, piecewise affine state feedback laws.
The second part of the talk presents a wide range of applications where constrained optimal control was used with great benefit. Two applications
will be highlighted: the joint project with Ford Research Lab for the design of a traction controller and the joint research with Honeywell Laboratory
in the area of formation flight for unmanned air vehicles.