A NUMERICAL ALGORITHM FOR THE SOLUTION OF DAIS - DIFFERENTIAL-SYSTEMSSUBJECT TO ALGEBRAIC INEQUALITY CONSTRAINTS

This paper describes a numerical algorithm for the solution of a Diffe rential system subject to Algebraic Inequality constraints (DAI). The algorithm consists of a dynamic integration of the equations of motion coupled with invocation of a control mechanism. After describing vari ous applications and solution approaches to DAIs, we concentrate on on e approach based on the principle of Least Constraint. This is achieve d by minimization of a barrier function defined using buffer zones nea r the constraint boundaries. Determination of the buffer zones is done dynamically, corresponding to a local planning strategy. The control is chosen in a way resembling interior-point methods in optimization. This ensures that the solution trajectory is 'centred' in some sense w ithin the feasible region.