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• W2154887626 abstract "Discrete mechanics and optimal control (DMOC) is newly developed methodology to solve the optimal control problems of mechanical systems. It is based on a direct discretization of the Lagrange-d'Alembert principle. The constraints are modeled as Euler-Langrange equations for discrete states. With the application of DMOC, a new real-time trajectory generation approach is proposed. The formulated problem is solved in the open source free nonlinear programming solver IPOPT (interior point optimizer). Superior performance of DMOC is verified through a standard forced VanDerPol oscillator example. It is shown DMOC is much faster than NTG (nonlinear trajectory generation) in computation time, it is 1.31% of the CPU time. Finally, for real-time trajectory generation, a dynamical glider example is shown as one of its possible application fields." @default.
• W2154887626 created "2016-06-24" @default.
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• W2154887626 date "2008-12-01" @default.
• W2154887626 modified "2023-09-23" @default.
• W2154887626 title "DMOC approach of real-time trajectory generation for mechanical systems" @default.
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• W2154887626 doi "https://doi.org/10.1109/icarcv.2008.4795871" @default.
• W2154887626 hasPublicationYear "2008" @default.
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