On the Usage of Analytically Computed Adjoint Gradients in a Direct Optimization for Time-Optimal Control Problems.

Keyphrases

• Adjoint Gradient 100%
• Time-optimal Control Problem 100%
• Direct Optimization 100%
• Adjoint Variables 50%
• Cubic Spline 25%
• Adjoint Approach 25%
• Direct Optimization Methods 25%
• Hamiltonian Function 25%
• Discrete Control 25%
• Control Parameterization 25%
• Parameterized Control 25%
• Trajectory Planning 25%
• Sequential Quadratic Programming 25%
• Numerical Differentiation 25%
• Direct Differentiation Method 25%
• First-order Optimality Condition 25%
• Analytical Gradients 25%

Engineering

• Optimal Control Problem 100%
• Optimization Method 50%
• Robot 50%
• Discretization 50%
• Optimality 50%
• Cubic Spline 50%
• Trajectory Planning 50%
• Hamiltonian Function 50%
• Discrete Control 50%
• Direct Differentiation Method 50%

Mathematics

• Adjoints 100%
• Time Optimal Control Problem 100%
• Discretization 14%
• Cubic Spline 14%
• Optimality 14%
• Hamiltonian Function 14%
• Numerical Differentiation 14%
• Sequential Quadratic Programming 14%