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Title: Add optimization to flat systems trajectory generation by murrayrm · Pull Request #569 · python-control/python-control · GitHub

Open Graph Title: Add optimization to flat systems trajectory generation by murrayrm · Pull Request #569 · python-control/python-control

X Title: Add optimization to flat systems trajectory generation by murrayrm · Pull Request #569 · python-control/python-control

Description: This PR adds the ability to generate trajectories for differential flat systems taking into account cost functions and constraints, in a manner that is consistent with the control.optimal module. In particular, you can now call flat.point_to_point with cost and constraints keywords. The code then uses any extra degrees of freedom in the flat trajectory to minimize cost and satisfy constraints at a list of time points. For differentially flat systems, this method is much faster than solving an optimal control problem with terminal constraints. I also found and fixed some docstring glitches and naming inconsistencies in control.optimal along the way (these are all minor and don't change behavior. Unit tests, examples, and updated documentation are included.

Open Graph Description: This PR adds the ability to generate trajectories for differential flat systems taking into account cost functions and constraints, in a manner that is consistent with the control.optimal module. ...

X Description: This PR adds the ability to generate trajectories for differential flat systems taking into account cost functions and constraints, in a manner that is consistent with the control.optimal module. ...

Opengraph URL: https://github.com/python-control/python-control/pull/569

X: @github

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178af36 add missing derivs for Bezier basis murrayrm Mar 2, 2021 https://github.com/python-control/python-control/pull/569/commits/178af364be409969ba5760c62159d40e6dc6490d
8a9ab95 initial implementation of optimization for flatsystems murrayrm Mar 7, 2021 https://github.com/python-control/python-control/pull/569/commits/8a9ab951d589b169f916d4527be906f2d8858804
67a2169 updated docs, unit tests, code fixes murrayrm Mar 8, 2021 https://github.com/python-control/python-control/pull/569/commits/67a2169b78254d098888bb2b9c90f43a2ec9324f
f02b1be optimize via null space + updated testing murrayrm Mar 13, 2021 https://github.com/python-control/python-control/pull/569/commits/f02b1bebeaad3b3f8be778406569b7624fd9c760
c240e9b fix legacy matrix issue in flatsys murrayrm Mar 13, 2021 https://github.com/python-control/python-control/pull/569/commits/c240e9b02329933c0267512ea91add3f1710582b
1fe6e86 additional unit tests for code coverage murrayrm Mar 13, 2021 https://github.com/python-control/python-control/pull/569/commits/1fe6e866becc076cc59866b334b99e8dd7d69ded
0c1d638 slight code refactoring to consolidate flag matrix computation murrayrm Mar 13, 2021 https://github.com/python-control/python-control/pull/569/commits/0c1d63867d1fe6da82f1a4b055b7f82fb12f0832
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