Finite-horizon covariance control of state-affine nonlinear systems with application to proton beamline calibration
(2019) 2019 18th European Control Conference (ECC) — Location: Naples, Italy (25.June.2019)
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- Abstract
- In this paper, we address the problem of finite-horizon distribution steering of state-affine nonlinear systems using open-loop control. The terminal distribution is constrained by an isotropy constraint which enforces uniformity in all directions. With the nonlinear dynamics and the isotropy constraint, a constrained nonlinear optimization problem is formulated. To solve this nonlinear problem, this paper proposes a sequential linearized algorithm that generates feasible iterates. The main advantage of the proposed algorithm is that it requires no a priori knowledge of the global Lipschtiz property of the gradients of the cost and constraint functions. The performance of the proposed algorithm is demonstrated by a beamline calibration problem in proton therapy.
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Citations
Wang, Z., Jungers, R., Flandroy, Q., Herregods, B., & Hernalsteens, C. (2019). Finite-horizon covariance control of state-affine nonlinear systems with application to proton beamline calibration. 2019 18th European Control Conference (ECC), p. 3740-3745. https://doi.org/10.23919/ecc.2019.8796121