Bilevel-Optimalsteuerung mittels hybrider Lösungsmethoden am Beispiel eines deckengeführten Regalbediengerätes in einem Hochregallager

Abstract

In order to use a new concept of ceiling rooted storage systems in high rack warehouses, reference trajectories have to be provided to ensure that the swing of the crane system is under control during the movement and disappears at the final point. These trajectories can be obtained solving optimal control problems (OCP).For industrial usage alternative trajectories have to be calculated in order to bring the crane system to a rest position at a free location from any state of the main trajectory.In this thesis it is shown, how this safety requirement led to bilevel OCPs and their numerical solution.Bilevel OCPs are an extension of classical OCPs. Hereby, for the optimization of a control variable of the primary problem, an additional constraint has to be considered, which depends on the optimal solution of a secondary OCP. Replacing the secondary problem by its KKT conditions, the bilevel OCP can be reduced to a classical OCP, which is equivalent under some assumptions.