@inproceedings{0d15405ea3d9433aa62c098a1faa5157,
title = "DMOC approach of real-time trajectory generation for mechanical systems",
abstract = "Discrete Mechanics and Optimal Control (DMOC) is newly developed methodology to solve the optimal control problems of mechanical systems. It is based on a direct discretization of the Lagrange-d'Alembert principle. The constraints are modeled as Euler-Langrange equations for discrete states. With the application of DMOC, a new real-time trajectory generation approach is proposed. The formulated problem is solved in the open source free nonlinear programming solver IPOPT (Interior Point OPTimizer). Superior performance of DMOC is verified through a standard forced VanDerPol Oscillator example. It is shown DMOC is much faster than NTG (Nonlinear Trajectory Generation) in computation time, it is 1.31% of the CPU time. Finally, for real-time trajectory generation, a dynamical glider example is shown as one of its possible application fields.",
keywords = "DMOC, Discrete mechanics, Nonliner trajectory generation, Optimal control",
author = "Weizhong Zhang and Tamer Inanc and Marsden, {Jerrold E.}",
year = "2008",
doi = "10.1109/ICARCV.2008.4795871",
language = "English",
isbn = "9781424422876",
series = "2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008",
pages = "2192--2195",
booktitle = "2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008",
note = "2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 ; Conference date: 17-12-2008 Through 20-12-2008",
}