Global State Space Approach for the Efficient Numerical Solution of State-Constrained Trajectory Optimization Problems

K. Chudej and M. Günther
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K. Chudej: Universität Greifswald
M. Günther: Technische Universität Darmstadt

Journal of Optimization Theory and Applications, 1999, vol. 103, issue 1, No 4, 75-93

Abstract: Abstract A new approach based on a global state space form is introduced for solving trajectory optimization problems with state inequality constraints via indirect methods. The use of minimal coordinates on a boundary arc of the state constraint eliminates severe problems, which occur for standard methods and are due to the appearance of differential-algebraic boundary-value problems. Together with a hybrid approach and a careful treatment of some interior-point conditions, we obtain an efficient and reliable solution method.

Keywords: Optimal control; state inequality constraints; global state space form; differential-algebraic boundary-value problems; minimal coordinates; trajectory optimization (search for similar items in EconPapers)
Date: 1999
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DOI: 10.1023/A:1021721316295

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