Global state space approach for the efficient numerical solution of state-constrained trajectory optimization problems. (English) Zbl 0947.49026
Summary: A new approach based on a global state space form is introduced for solving trajectory optimization problems with state inequality constraints via indirect methods. The use of minimal coordinates on a boundary arc of the state constraint eliminates severe problems, which occur for standard methods and are due to the appearance of differential-algebraic boundary-value problems. Together with a hybrid approach and a careful treatment of some interior-point conditions, we obtain an efficient and reliable solution method.
MSC:
| 49M30 | Other numerical methods in calculus of variations (MSC2010) |
| 65K10 | Numerical optimization and variational techniques |
Keywords:
optimal control; global state space form; trajectory optimization; state inequality constraints; minimal coordinates; differential-algebraic boundary-value problemsSoftware:
RODASReferences:
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