Lavrentiev Phenomenon inhpGaussian Quadrature Collocation Methods for Optimal Control

2016 ◽  
Author(s):  
Joseph Eide ◽  
Anil V. Rao
Keyword(s):  
Optimal Control ◽  
Collocation Methods ◽  
Lavrentiev Phenomenon

Trajectory Optimization for Nonholonomic Vehicles on Non-Flat Terrains Using Shooting and Collocation Methods

2013 ◽  
Author(s):  
Dimitris M. Chatzigeorgiou
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Performance Index ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Control Policy ◽  
Collocation Methods ◽  
Governing Equations ◽  
Nonholonomic Mobile Robots ◽  
Nonholonomic Vehicles

In this paper we focus on the trajectory optimization problem for a specific family of robots; nonholonomic mobile robots. We study the particular case where such robots operate on smooth, non-flat terrains, i.e. terrains with large differences in elevation. Initially we present the governing equations of such robots and then study the trajectory optimization problem in order to solve for the optimal control policy. We test two different approaches for this problem, namely a shooting and a collocation method, for evaluating and optimizing a performance index.

scholarly journals Optimization of a Water Rocket in OpenMDAO/dymos

2020 ◽  
Author(s):  
Bernardo Bahia Monteiro
Keyword(s):  
Optimal Control ◽  
Collocation Methods ◽  
Water Volume ◽  
Bottle Water ◽  
Initial Water

This work presents a model of a soda-bottle water rocket developed with NASA'sOpenMDAO Dymos optimal control multidisciplinary framework. This is an acces-sible example that is able to highlight many of the benfitts and challenges of multi-disciplinary optimization and of collocation methods. Optimization results for flightrange and height at apogee with respect to empty mass, initial water volume andlaunch angle are presented.

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