DMOC Approach of Real-Time Trajectory Generation for Mechanical Systems

摘要

Discrete Mechanics and Optimal Control (DMOC) is newly developed methodology to solve the optimal control problems of mechanical systems. It is based on a direct discretization of the Lagrange-d'Alembert principle. The constraints are modeled as Euler-Langrange equations for discrete states. With the application of DMOC, a new real-time trajectory generation approach is proposed. The formulated problem is solved in the open source free nonlinear programming solver IPOPT (Interior Point OPTimizer). Superior performance of DMOC is verified through a standard forced VanDerPol Oscillator example. It is shown DMOC is much faster than NTG (Nonlinear Trajectory Generation) in computation time, it is 1.31percent of the CPU time. Finally, for real-time trajectory generation, a dynamical glider example is shown as one of its possible application fields.