Optimal Trajectory Generation for Linear Systems Based on Double Generating Functions

• DOI: 10.9746/jcmsi.6.194
• Publication Date: 2013-05-29T03:41:06Z
• Authors: Zhiwei Hao; Kenji Fujimoto; Yoshikazu Hayakawa
• Keywords: 0209 industrial biotechnology; 0211 other engineering and technologies; 02 engineering and technology

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.