Siro Moreno-Martín

A Legendre-Gauss Pseudospectral Collocation Method for Trajectory Optimization in Second Order Systems

Pseudospectral collocation methods have proven to be powerful tools to solve optimal control problems. While these methods generally assume the dynamics is given in the first order form xx = f(x, u, t), where xx is the state and uu is the control vector, robotic systems are typically governed by sec…