A computationally efficient technique for the numerical solution of optimal control problems is discussed. This method utilizes tools from nonlinear control theory to transform the optimal control problem to a new, lower dimensional set of coordinates. It is hypothesized that maximizing the relative degree in this transformation is directly related to minimizing the computation time. Firm evidence of this hypothesis is given by numerical experiments. Results are presented using the Nonlinear Trajectory Generation (NTC) software package.
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