2025

Presenter: Guancheng "Ivan" Qiu

Topic: Nonlinear trajectory optimization; collocation; implicit integration; differential dynamic programming

In this lecture, we will cover examples of nonlinear trajectory optimization, and two methods to solve these problems: transcription (specifically collocation) and differential dynamic programming.

The lecture note is contained in a Pluto notebook (class05/class05.jl). To run it locally, please refer to the Class 01 documentation. (In Step 3: Install Pluto and other dependencies, you should activate the environment in the class05 foler.)

The notebook can also be accessed online