Direct Trajectory Optimization and Costate Estimation of General Optimal Control Problems Using a Radau Pseudospectral Method

@inproceedings{Garg2009DirectTO,
  title={Direct Trajectory Optimization and Costate Estimation of General Optimal Control Problems Using a Radau Pseudospectral Method},
  author={Divya Garg and Michael A. Patterson and Christopher Darby and Camila Francolin and Geoffrey T. Huntington and William W. Hager and Anil V. Rao},
  year={2009}
}
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… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 19 CITATIONS