MatthewPeterKelly/OptimTraj

Costate Estimates

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#23 创建于 2016年9月9日

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 (1 评论) (1 反应) (0 负责人)MATLAB (704 star) (219 fork)batch import
enhancementhelp wanted

描述

Do you plan to compute estimates of the costates and provide those with the OptimTraj solution, in addition to the states and controls? The costates can be useful if one wants to use an indirect method. Many optimal control solvers, such as the MATLAB solvers GPOPS-II, DIDO, PROPT, ICLOCS, and FALCON.m and the C++ solver PSOPT, do provide costate estimates in the solution.

GPOPS-II: http://www.gpops2.com/ DIDO: http://www.elissarglobal.com/academic/products/ PROPT: http://tomdyn.com/ ICLOCS: http://www.ee.ic.ac.uk/ICLOCS/ FALCON.m: http://www.fsd.mw.tum.de/software/falcon-m/ PSOPT: http://www.psopt.org/

贡献者指南

技术栈
无
领域
backend
议题类型
feature
难度面向新贡献者的预计实现难度，1 表示很小改动，5 表示专家级工作。
4
预计时间有经验贡献者完成调查、实现、测试并准备 pull request 的粗略时间范围。
over 1 week
活动状态议题当前的可参与程度：新鲜、活跃、陈旧、阻塞或等待维护者输入。
stale
清晰度议题是否清楚说明期望改动、验收标准和下一步。
clear
前置要求
optimal control theoryMATLABOptimTraj internals
新手友好度1-100 的估计分数，表示该议题对首次贡献者的友好程度。
20
研究方向
Review any existing comment for maintainer guidance. Examine how OptimTraj currently outputs states and controls in the solution object (likely in the 'soln' class or output functions). Costates can be derived from the Lagrange multipliers already used in the transcription process. Look at references like GPOPS II and PSOPT for analogous implementation patterns. Implement an option to compute and return costate estimates alongside states and controls.