Skip Nav Destination
1-1 of 1
Keywords: collocation methodClose
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T33A006, October 21–23, 2013
Paper No: DSCC2013-4051
... 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. Trajectory optimization...