Numerical Solution of Optimal Trajectories for Fully Actuated Mechanical Systems
نویسنده
چکیده
We describe a numerical method for computing optimal trajectories for fully actuated mechanical systems. This method uses the fact that fully actuated mechanical systems are diierentially at with conngura-tion variables as at outputs to parametrize the system trajectories by connguration space trajectories. Our approach has the advantage that the system ODEs are implicitly satissed and hence we by pass the need to numerically integrate ODEs that may be very sensitive to initial conditions. We describe the simulation results for an optimal transfer problem of an earth bound spacecraft.
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