https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Inversion_Based_Trajectory_Optimization 2026-04-26T12:42:22Z Revision history for this page on the wiki MediaWiki 1.41.5 https://murray.cds.caltech.edu/index.php?title=Inversion_Based_Trajectory_Optimization&diff=19967&oldid=prev 2016-05-15T06:19:21Z

<p>htdb2wiki: creating page for 2000k_pmm01-nolcos.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Nicolas Petit, Mark B. Milam and Richard M. Murray<br /> | title = Inversion Based Trajectory Optimization<br /> | source = Submitted, IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)<br /> | year = 2001<br /> | type = <br /> Conference Paper<br /> | funding = DARPA, AFOSR<br /> | url = http://www.cds.caltech.edu/~murray/preprints/pmm01-nolcos.pdf<br /> | abstract = <br /> A computationally efficient technique for the numerical solution of optimal control problems<br /> is discussed. This method utilizes tools from nonlinear control theory to transform the optimal<br /> 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<br /> of this hypothesis is given. Results are presented using the Nonlinear Trajectory Generation<br /> (NTG) software package.<br /> | flags = <br /> | tag = pmm01-nolcos<br /> | id = 2000k<br /> }}</div>

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