Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 10 of 10 for “"Direct Collocation"”.
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Predictive Simulation of Musculoskeletal Models Using Direct Collocation
… required to develop bespoke implementations of direct collocation, or laboriously manually link multiple software packages. In order to address these limitations, this research aims to develop and critically evaluate a software suite that enables both expert and non-expert users to construct and …
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Trajectory optimization for a fixed trim re-entry vehicle using direct collocation with nonlinear programming
… discretize the optimal control problem using a direct collocation method. The resulting parameter optimization problem is solved using the MINOS non-linear programming software package. The resulting collocation guidance software is tested using data for the Kistler K-1 vehicle system and an …
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Collocation With Nonlinear Programming for Two-Sided Flight Path Optimization
… of a saddle-point trajectory. The method of direct collocation with nonlinear programming is extended to find the solution of a zerosum two-person differential game by incorporating the analytical optimality condition for one player into the system equations. The new method is named …
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Optimal cooperative power-limited rendezvous
… are obtained for the linearized gravity field. A direct method using direct collocation with nonlinear programming is used for the nonlinear problem. Solutions obtained are checked against the primer vector necessary conditions for optimality. The optimal solutions depend in a complicated way on …
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Policy regularized model predictive control framework for robust legged locomotion
… The nonlinear optimization makes use of direct collocation on the simplified dynamics to pose the problem with a highly sparse structure for fast computation. A generalized approach to the controller design is independent from specific gait pattern and reference policy and allows …
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Simulations of a three degree of freedom brachiating Y-bot robot
… method used in the trajectory optimization was direct collocation. The task of the robot in the simulations was to swing from a one "branch" point to another. The trajectories of two Y-bot models swinging from rest were optimized. Furthermore, the gait of one of the models was examined, and a …
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A Systematic Design Methodology for Articulated Serpentine Robotic Tails to Assist Agile Robot Behaviors
… optimization methodology which uses a modified direct collocation technique will be presented. The optimization allows for the simultaneous optimization of both a trajectory and the physical structure of a tail. Representative results of this technique will be presented and compared against more …
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Optimization and Trajectory Analysis of Morphing Waveriders
… on waverider range was evaluated using a direct collocation trajectory optimization algorithm. While the analytical model and CFD tool predicted similar performance trends, the CFD based method was better suited to capture the complex features experienced by round-leading edge morphing …
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Trajectory optimization and data-driven modeling for robotic bat flapping flight
… a generalized approach that uses this model with direct collocation methods to plan dynamically feasible flight maneuvers. We demonstrate a range of different maneuvers including a launch to an altitude, a banked turn, and a launch, dive, and recover maneuver. The launch to an altitude and launch, …
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Optimization for control and planning of multi-contact dynamic motion
… combinatorial complexity. We also introduce a direct collocation algorithm for optimizing high-accuracy trajectories, given an arbitrary contact schedule. This approach eliminates drift in the numerical integration of contact constraints, even when constraints result in closed kinematic chains …