View source for Inversion Based Trajectory Optimization

{{HTDB paper
| authors = Nicolas Petit, Mark B. Milam and Richard M. Murray
| title = Inversion Based Trajectory Optimization
| source = Submitted, IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)
| year = 2001
| type =  
  Conference Paper
| funding = DARPA, AFOSR
| url = http://www.cds.caltech.edu/~murray/preprints/pmm01-nolcos.pdf
| abstract = 
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.
| flags = 
| tag = pmm01-nolcos
| id = 2000k
}}