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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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