Direct Trajectory Optimization and Costate Estimation via an Orthogonal Collocation Method

@inproceedings{Benson2006DirectTO,
  title={Direct Trajectory Optimization and Costate Estimation via an Orthogonal Collocation Method},
  author={David A. Benson and Geoffrey T. Huntington and Tom P. Thorvaldsen and Anil V. Rao},
  year={2006}
}
A pseudospectral method, called the Gauss pseudospectral method, for solving nonlinear optimal control problems is presented. In the method presented here, orthogonal collocation of the dynamics is performed at the Legendre-Gauss points. This form of orthogonal collocation leads a nonlinear programming problem (NLP) whose Karush-Kuhn-Tucker (KKT) multipliers can be mapped to the costates of the continuous-time optimal control problem. In particular the Legendre-Gauss collocation leads to a… CONTINUE READING

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