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Global State Space Approach for the Efficient Numerical Solution of State-Constrained Trajectory Optimization Problems

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Abstract

A new approach based on a global state space form is introduced for solving trajectory optimization problems with state inequality constraints via indirect methods. The use of minimal coordinates on a boundary arc of the state constraint eliminates severe problems, which occur for standard methods and are due to the appearance of differential-algebraic boundary-value problems. Together with a hybrid approach and a careful treatment of some interior-point conditions, we obtain an efficient and reliable solution method.

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Author notes

  1. K. Chudej (Assistant Professor)

    Present address: Mathematisches Institute, Universität Bayreuth, Germany

  2. M. Günther (Assistant Professor)

    Present address: Fachbereich Mathematik, Universität Karlsruhe, Germany

Authors and Affiliations

  1. Institut für Mathematik und Informatik, Universität Greifswald, Greifswald, Germany

    K. Chudej (Assistant Professor)

  2. Fachbereich Mathematik, Technische Universität Darmstadt, Darmstadt, Germany

    M. Günther (Assistant Professor)

Authors
  1. K. Chudej
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  2. M. Günther
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Chudej, K., Günther, M. Global State Space Approach for the Efficient Numerical Solution of State-Constrained Trajectory Optimization Problems. Journal of Optimization Theory and Applications 103, 75–93 (1999). https://doi.org/10.1023/A:1021721316295

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