Title: Add B-splines and solve_flat_ocp to flatsys by murrayrm · Pull Request #763 · python-control/python-control · GitHub
Open Graph Title: Add B-splines and solve_flat_ocp to flatsys by murrayrm · Pull Request #763 · python-control/python-control
X Title: Add B-splines and solve_flat_ocp to flatsys by murrayrm · Pull Request #763 · python-control/python-control
Description: This PR extends the flatsys module to include two new elements: flatsys.BSplineFamily adds B-splines as a new type of basis for solving trajectory generation problems (within flatsys or optimal). flatsys.solve_flat_ocp() allows solution of optimal control problems for differentially flat systems with trajectory and terminal costs and constraints, mirroring the functionality of optimal.solve_ocp(). In the process of making these additions, a few other changes: The flatsys.BSplineFamily introduces the ability to have multi-variable basis functions (where each flat output uses a different basis function from a selected family). This is useful if you have a differentially flat system in which you would like to have different degrees for different variables. Fixed a bug in the computation of derivatives for the Bezier family of basis functions with rescaled final time, and implemented a final time rescaling for the polynomial family of basis functions. Added a more descriptive __repr__ for basis functions (show the family + information on attributes). New documentation (sphinx + docstring) and units tests for the added functionality.
Open Graph Description: This PR extends the flatsys module to include two new elements: flatsys.BSplineFamily adds B-splines as a new type of basis for solving trajectory generation problems (within flatsys or optimal)....
X Description: This PR extends the flatsys module to include two new elements: flatsys.BSplineFamily adds B-splines as a new type of basis for solving trajectory generation problems (within flatsys or optimal)....
Opengraph URL: https://github.com/python-control/python-control/pull/763
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