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Optimal trajectory generation for linear systems based on double generating functions

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3 Author(s)
Zhiwei Hao ; Dept. of Mech. Sci. & Eng., Nagoya Univ., Nagoya, Japan ; Fujimoto, K. ; Hayakawa, Y.

Recently, the generating function method for the optimal control problems was proposed. It provides a family of optimal trajectories for different boundary conditions. This paper proposes a method to compute a family of optimal trajectories by using a pair of generating functions. The proposed method reduces the on-line computational effort in calculating the numerical integration required in the conventional generating function method. It is useful for on-line trajectory generation problems.

Published in:

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Date of Conference:

10-13 Dec. 2012