Algorithm 733: TOMP–Fortran modules for optimal control calculations

ABSTRACT

A great number of analysis and synthesis problems of modern processes can be written as state and control constrained optimal control problems governed by ordinary differential equations with multipoint boundary values. As the software tools for following this attractive approach are still missing or can be used only by experts, the structure and usage of an easy-to-use software package is described which efficiently solves the given problem. Among its features are user-orientation, applicability on personal computers and mainframes, and robustness with respect to model changes and inaccurate starting values. It has been tested on a number of complex engineering tasks, including aerospace and robotic trajectory planning.

REFERENCES

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INDEX TERMS

Primary Classification:
  G. Mathematics of Computing
  G.1 NUMERICAL ANALYSIS

Additional Classification:
  G. Mathematics of Computing
  G.1 NUMERICAL ANALYSIS

  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE

General Terms:
Algorithms

Keywords:
boundary value problems, manipulators, optimal control, robotics, shooting method