DDP2:An Interactive Program for Solving Nonlinear Optimal Control Problems.

摘要

DDP2 is a Program Package capable of solving nonlinear optimal control problems. It is designed to be highly interactive and capable of being used as an educational tool by graduate students in optimal control. The package incorporates a second order Differential Dynamic Programming algorithm and a first order gradient algorithm. The solution process using DDP2 is adaptive; utilizing the results of a given iteration the user may switch algorithms or inject his own intuition. based on the gradient information provided, to start the next iteration. Although designed for use on a small computer with modest facilities DDP2 promises to be a useful educational tool. (Author)