Solving Optimal Control Problems via Indirect Single Shooting
optimal control
indirect methods
numerical methods
shooting method
tutorial
pendulum
This article shows how one solves a continuous time optimal control problem via indirect single shooting, from analysing the problem via Pontryagin’s maximum principle to implementing a shooting algorithm to solve the obtained bounday value problem. Detailed numerics with code is also provided, get it all from this repo.
Optimal Path Planning for Wheeled Robots
autonomous vehicles
robotics
optimal control
path planning
numerical methods
homotopy methods
This article presents the steps involved in defining and solving an optimal path planning problem for a well-known car model. It examines common issues that arise when trying to solve the problem numerically (such as nonsmoothness of the cost functional and chattering of the control) and how to deal with them. Examples help to clarify the concepts. Get all the code here.
Model Predictive Control Basics
optimal control
model predictive control
tutorial
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