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Control & dynamics
10 Jul 2023

Applied Optimal Control(03) - Trajectory Optimization Basics (Euler-Lagrange equation, boundary conditions)

Keypoints:

  • Euler-Lagrange equation:
    • Fixed boundary conditions
    • Free boundary conditions:
      • $x(t_f)$ is free
      • $t_f$ is free
  • Differential constraints
  • General boundary constraints

Based on the lecture notes by Dr. Marin Kobilarov on “Applied Optimal Control (2021 Fall) at Johns Hopkins University

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