Inversion Based Trajectory Optimization

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Nicolas Petit, Mark B. Milam and Richard M. Murray
Submitted, IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)

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 is directly related to minimizing the computation time. Firm evidence of this hypothesis is given. Results are presented using the Nonlinear Trajectory Generation (NTG) software package.