juliosdutra / optimal_control_examples

optimal control problems solved in python

Python Optimal Control Examples

My attempt at various optimal control problems solved in python using the follwing methods:

• Indirect Single Shooting
• Indirect Multiple Shooting
• Direct Single Shooting
• Direct Multiple Shooting

Problems:

• Hypersensitive
• Brachistochrone
• Orbit Transfer
• Mobile Robot
• (Attempt of) Robot Arm

Dependencies:

• Numpy
• Scipy
• Matplotlib
• Jupyter Notebooks

TODO: For problems with an angle as the control, use substitution u1 = cos(angle) and u2 = sin(angle) with a path constraint of u1^2 + u2^2 = 1