Download CAMTOS - A Software Suite Combining Direct and Indirect by Gath P.F. PDF

By Gath P.F.

Many engineering purposes contain the answer of optimum keep watch over difficulties. Such difficulties disguise a large choice of alternative disciplines, ranging from regular aerospace purposes, e.g. a gasoline minimum launcher ascent trajectory, as much as extra unique functions similar to the optimum movement of the human physique in several game disciplines.This thesis provides a brand new technique for fixing a common classification of multi-phase trajectory optimization difficulties. This new strategy makes use of a mixture of direct a number of capturing and direct collocation. reckoning on the categorical calls for of the matter to unravel, a unique form of transcription approach can be utilized for every part. additionally, the tactic could be mixed with the oblique strategy. as soon as the adjoint differential equations come in addition to the dynamic method, a number of stages might be modeled as oblique stages. because the transversality stipulations which are often required for fixing the multi-point boundary worth challenge are inside the Karush-Kuhn-Tucker stipulations of the NLP-solver, they want no longer be formulated explicitly.

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Extra info for CAMTOS - A Software Suite Combining Direct and Indirect Trajectory Optimization Methods

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X Path constraints x x x x x State connect x x x x x Parameter connect Control connect t0 connect tf connect x1 p1 u1 t01 tf1 x x x x x x x x x Path constraints x x x x x Terminal constr. x x x x x Fig. 2 Integration Methods The core part of any multiple shooting optimization method is, besides the NLP solver, the integration method that is used to propagate the states. t. variations in the optimization parameters. PROMIS (Ref. [51] and [70]) is equipped with a special Runge-Kutta 4/5 integration method which is using a so-called “interior differentiation” technique (see Ref.

Another major drawback of the method of Paus is a fairly large memory consumption due to the storage of many matrices at each integration step. For dynamic systems with many states such an approach will easily run into problems with memory limitations and the sparsity patters in the linearized dynamics should be exploited. CAMTOS - A Software Suite Combining Direct and Indirect Trajectory Optimization Methods The Direct Trajectory Optimization Method - The Direct Collocation Method 43 The best performance for all of the problems investigated in the framework of this thesis is shown by the Runge-Kutta 4/5 method.

45], [72]). Shooting methods are very popular for solving boundary value problems. An early application of such methods is to aim a cannon such that the cannonball hits its target, hence the name “shooting method”. The major problem of shooting methods is a great sensitivity of the terminal constraints with respect to changes in the initial conditions. A first approach to reduce this sensitivity is to “shoot” from both sides of the interval and try to match the two trajectories at an intermediate point.

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