Hi All,

I am doing a mobile robot project that requires to solve an optimal control problem. I can solve the two-point boundary value problem directly. I just
don't know what is the advantage(s) of other methods such as Gradient
method, quasilinearization or dynamic programming. Can someone help me out
here? I also have a problem with costate boundary condition. The test books
(such as Robert Stengel or Bryson and Ho) use lambda(tf) transpose[dphi/dx] at t = tf. It gives sub optimal performance for my
problem. I know this because I varied the lambda(tf) from the formula and I
can, sometimes, get better cost function. Any suggestions?

Thanks.

Everett

I am doing a mobile robot project that requires to solve an optimal control problem. I can solve the two-point boundary value problem directly. I just

Thanks.

Everett