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Inversion Based Trajectory Optimization
Abstract A computationally efficient technique for …
A computationally efficient technique for the numerical solution of optimal control problems is discussed. This method utilizes tools from nonlinear control theory to transform the optimal control problem to a new, lower dimensional set of coordinates. It is hypothesized that maximizing the relative degree is directly related to minimizing the computation time. Firm evidence of this hypothesis is given. Results are presented using the Nonlinear Trajectory Generation (NTG) software package.
jectory Generation (NTG) software package.  +
Authors Nicolas Petit, Mark B. Milam and Richard M. Murray  +
ID 2000k  +
Source Submitted, IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)  +
Tag pmm01-nolcos  +
Title Inversion Based Trajectory Optimization +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:19:21  +
URL
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http://www.cds.caltech.edu/~murray/preprints/pmm01-nolcos.pdf  +
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