Hybrid solution methods for bilevel optimal control problems with time dependent coupling

Abstract

To operate crane systems in high rack warehouses, reference trajectories have to ensure that the swinging of the crane is under control during the fast movement and disappears at the final point. These trajectories can be obtained solving optimal control problems. For security reasons the optimal control problem of a main trajectory is augmented by additional constraints depending on the optimal solution of several safety stop trajectories leading to a bilevel optimal control problem. © 2010 Springer -Verlag Berlin Heidelberg.