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The Usefulness of Semianalytical Integration Techniques for Solving Optimal Control Problems Demonstrated by Means of an Example from the Area of Robotics

Ueber die Vorteile semianalytischer Methoden zur Loesung von „Optimal Control Problems“ dargestellt an einem Beispiel aus der Robotik

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Simulationstechnik

Part of the book series: Informatik-Fachberichte ((INFORMATIK,volume 109))

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Abstract

The solution of optimal control problems has been of growing practical importance for more than two decades. Therefore a number of numerical methods got developed which lend themselves to the solution of various classes of control problems. Software implementation of these methods entails algorithms for solving ordinary differential equations within a framework that serves to iteratively improve the control vector for instance by solving a two-point boundary-value problem.

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© 1985 Springer-Verlag Berlin Heidelberg

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Halin, H.J., Hepner, S.A.R., Geering, H.P. (1985). The Usefulness of Semianalytical Integration Techniques for Solving Optimal Control Problems Demonstrated by Means of an Example from the Area of Robotics. In: Möller, D.P.F. (eds) Simulationstechnik. Informatik-Fachberichte, vol 109. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-70640-0_38

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  • DOI: https://doi.org/10.1007/978-3-642-70640-0_38

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-15700-7

  • Online ISBN: 978-3-642-70640-0

  • eBook Packages: Springer Book Archive

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