Optimal control of a somersaulting platform diver: a numerical approach

The somersaulting maneuver of a platform diver is studied. An effective numerical approach for obtaining an optimal solution for this motion is given. The diver is modeled as a planar system of interconnected multibodies, and controllability is proved in a sense dictated by the problem. A time-optimal control problem with state and control constraints is set up and solved using a numerical approach. The numerical solution agrees well with motions executed by professional divers.<
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