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In this paper, we present a direct method to solve optimal control problems based on the least square formulation of the state dynamics. In this approach, we approximate the state and control variables in a finite dimensional Hilbert space. We impose the state dynamics as a weighted integral formulation based on the least square method to solve initial value problems. We analyze the resulting nonlinear...
This paper outlines real-time nonlinear trajectory generation procedure and explores the assisting role of function approximators in this computational task. Nonlinear Trajectory Generation software package (NTG), developed at Caltech by Mark Milam (2000), provides real-time trajectory generation for constrained nonlinear systems. Formal translation of each component of the optimal control form into...
OPTRAGEN is a MATLAB toolbox for numerically solving optimal control problems. OPTRAGEN translates optimal control problems to nonlinear programming problems. The transcription of optimal control problem (OCP) to nonlinear programming (NLP) problem is done by parameterizing trajectories as splines. The output of the transcription is a cost function and a constraint function that can be interfaced...
In this paper we propose a method that uses local approximations to construct a globally continuous function. Such a method increases the variability of the parameterized function space, which is useful in the context of numerically solving nonlinear trajectory generation problems
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