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Direct Trajectory Optimization and Costate Estimation of General Optimal Control Problems Using a Radau Pseudospectral Method
| Content Provider | Semantic Scholar |
|---|---|
| Author | Garg, Divya Patterson, Michael A. Darby, Christopher Francolin, Camila Huntington, Geoffrey T. Hager, William W. Rao, Anil V. |
| Copyright Year | 2009 |
| Abstract | A method is presented for direct trajectory optimization and costate estimation using global collocation at Legendre-Gauss-Radau (LGR) points. The method is formulated first by casting the dynamics in integral form and computing the integralfrom the initialpoint to the interior LGR points and the terminal point. The resulting integration matrix is nonsingular and thus can be inverted so as to express the dynamics in inverse integral form. Then, by appropriate choice of the approximation for the state, a pseudospectral (i.e., differential) form that is equivalent to the inverse integral form is derived. As a result, the method presented in this paper can be thought of as either a global implicit integration method or a pseudospectral method. Moreover, the formulation derived in this paper enables solving general finite-horizon problems using global collocation at the LGR points. A key feature of the method is that it provides an accurate way to map the KKT multipliers of the nonlinear programming problem (NLP) to the costates of the optimal control problem. Finally, |
| File Format | PDF HTM / HTML |
| DOI | 10.2514/6.2009-5989 |
| Alternate Webpage(s) | http://vdol.mae.ufl.edu/ConferencePublications/GargRaoRPM_GNC.pdf |
| Alternate Webpage(s) | https://doi.org/10.2514/6.2009-5989 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
