Abstract
Discrete mechanics and optimal control (DMOC) is newly developed methodology to solve the optimal control problems of mechanical systems. It is based on a direct discretization of the Lagrange-d'Alembert principle. The constraints are modeled as Euler-Langrange equations for discrete states. With the application of DMOC, a new real-time trajectory generation approach is proposed. The formulated problem is solved in the open source free nonlinear programming solver IPOPT (interior point optimizer). Superior performance of DMOC is verified through a standard forced VanDerPol oscillator example. It is shown DMOC is much faster than NTG (nonlinear trajectory generation) in computation time, it is 1.31% of the CPU time. Finally, for real-time trajectory generation, a dynamical glider example is shown as one of its possible application fields.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
