next up previous
Next: About this document Up: No Title Previous: Conclusions

References

1
Betts, J.T., Huffman, W.P. Path constrained trajectory optimization using sparse sequential quadratic programming. AIAA J. Guidance, Control, and Dynamics 16, 1 (1993) 59-68.

2
Bryson, A.E., Denham, W.F., Dreyfus, S.E. Optimal programming problems with inequality constraints. I: Necessary conditions for extremal solutions. AIAA J. 1, 11 (1963) 2544-2550.

3
Bryson, A.E., Ho, Y.-C. Applied Optimal Control. Rev. Printing. (Hemisphere Publishing Corporation, New York, 1975).

4
Bulirsch, R. Die Mehrzielmethode zur numerischen Lösung von nichtlinearen Randwertproblemen und Aufgaben der optimalen Steuerung. Report of the Carl-Cranz Gesellschaft, Oberpfaffenhofen, Germany (1971). Reprint: Department of Mathematics, Munich University of Technology, Germany (1985).

5
Bulirsch, R., Montrone, F., Pesch, H.J. Abort landing in the presence of windshear as a minimax optimal control problem.
Part 1: Necessary conditions. JOTA 70 (1991) 1-23.
Part 2: Multiple shooting and homotopy. JOTA 70 (1991) 223-254.

6
Char, B.W., Geddes, K.O., Gonnet, G.H., Leong, B.L., Monagan, M.B., Watt, S.M. Maple V, language reference manual. (New York/Berlin/Heidelberg: Springer, 1991).

7
Chen, Y.-C. Solving robot trajectory planning problems with uniform cubic B-splines. Opt. Contr. Appl. and Meth. 12 (1991) 247-262.

8
Gill, P.E. Large-scale SQP methods and their application in trajectory optimization. Proc. of the 9th IFAC Workshop on Control Applications of Optimization, Fachhochschule München, 1992, ed. by R. Bulirsch and D. Kraft.

9
Gill, P.E., Murray, W., Saunders, M.A., Wright, M.H. User's guide for NPSOL (Version 4.0). Report SOL 86-2. Department of Operations Research, Stanford University, California, USA (1986).

10
Griewank, A. Automatic evaluation of discrete adjoints with logarithmic increase in storage. Proc. of the 9th IFAC Workshop on Control Applications of Optimization, Fachhochschule München, 1992, ed. by R. Bulirsch and D. Kraft.

11
Hargraves, C.R., Paris, S.W. Direct trajectory optimization using nonlinear programming and collocation. AIAA J. Guidance 10, 4 (1987) 338-342.

12
Jacobson, D.H., Lele, M.M., Speyer, J.L. New necessary conditions of optimality for control problems with state-variable inequality constraints. Journal of Mathematical Analysis and Applications 35 (1971) 255-284.

13
Johanni, R. Optimale Bahnplanung bei Industrierobotern. Fortschrittsberichte VDI, Reihe 18, Nr. 51, 1988.

14
Kraft, D. TOMP - FORTRAN Modules for Optimal Control Calculations. Fortschrittsberichte VDI, Reihe 8, Nr. 254 (1991).

15
Lee, A.Y. Solving constrained minimum-time robot problems using the sequential gradient restoration algorithm. Opt. Contr. Appl. and Meth. 13 (1992) 145-154.

16
Lewald, S.A. Generierung von Robotertrajektorien für Industrieroboter mit 6 Freiheitsgraden. Diploma thesis, Lehrstuhl für Steuerungs- und Regelungstechnik, Munich University of Technology, Germany (1990).

17
Maurer, H. Optimale Steuerprozesse mit Zustandsbeschränkungen. Habilitationsschrift, University of Würzburg, Würzburg, Germany (1976).

18
Oberle, H.J. Numerische Berechnung optimaler Steuerungen von Heizung und Kühlung für ein realistisches Sonnenhausmodell. Habilitationsschrift, Munich University of Technology, Germany (1982).

19
Otter, M., Türk, S. The DFVLR Models 1 and 2 of the Manutec r3 Robot. DFVLR-Mitt. 88-13, Institut für Dynamik der Flugsysteme, Oberpfaffenhofen, Germany (1988).

20
Pesch, H.J., Schlemmer, M., von Stryk, O. Minimum-energy and minimum-time control of three-degrees-of-freedom robots. Part 1: Mathematical model and necessary conditions, Part 2: Numerical methods and results for the Manutec r3 robot. In preparation.

21
Pfeiffer, F., Reithmeier E. Roboterdynamik. (Teubner: Stuttgart, 1987).

22
Schlemmer, M. Zeit- und energieminimale Steuerung von Industrierobotern mit 3 Freiheitsgraden am Beispiel des Manutec r3. Diploma thesis, Department of Mathematics, Munich University of Technology (1992).

23
Steinbach, M., Bock, H.G. Time-optimal extension or retraction in polar coordinate robots: A numerical analysis of the switching structure. Proc. of the AIAA Guidance, Navigation and Control Conference, Boston, USA, AIAA Paper 89-3529-CP (1989) 883-894.

24
Stoer, J., Bulirsch, R. Introduction to Numerical Analysis. 2nd ed. (Springer, 1993).

25
von Stryk, O. Ein direktes Verfahren zur Bahnoptimierung von Luft- und Raumfahrzeugen unter Berücksichtigung von Beschränkungen. Z. angew. Math. Mech. 71, 6 (1991) T705-T706.

26
von Stryk, O. Numerical solution of optimal control problems by direct collocation. To appear in: R. Bulirsch, A. Miele, J. Stoer, K.-H. Well (eds.) Optimal Control, Proceedings of the conference on Optimal Control and Variational Calculus, Oberwolfach, 1991 (International Series of Numerical Mathematics, Birkhäuser).

27
von Stryk, O. Numerische Lösung optimaler Steuerungsprobleme: Diskretisierungen, Parameteroptimierung und Schätzung von adjungierten Variablen. In preparation as Doctoral thesis.

28
von Stryk, O., Bulirsch, R. Direct and indirect methods for trajectory optimization. Annals of Operations Research 37 (1992) 357-373.


Oskar von Stryk
Fri Apr 5 21:57:02 MET DST 1996