Examples
The following examples have already been implemented in ICLOCS2 for you. Use the link below to check the details and feel free to use them as a starting point to formulate your own optimal control problem.
Example Problem | Implementation Difficulty | Solver Difficulty | Dynamics | Path Constraints | Rate Constraints | Boundary Constraints | Singular Arc | Using Analytic Derivatives | Detailed Instructions | Additional Function Demo |
---|---|---|---|---|---|---|---|---|---|---|
Bang-bang Control | Easy | Easy | Linear | No | No | No | No | Yes | Yes | Flexible hp-adaptive mesh |
Double Integrator Tracking | Easy | Easy | Linear | No | No | No | No | No | Yes | - |
Hypersensitive Control | Easy | Medium | Simple Nonlinear | No | No | No | No | No | Yes | Mesh Refinement |
Aly Chan Problem | Easy | Hard | Simple Nonlinear | No | No | No | Yes | No | No | Residual Minimization |
Van der Pal Oscillator | Easy | Hard | Simple Nonlinear | No | No | No | Yes | No | No | Residual Minimization |
Second Order Singular Control Problem | Easy | Medium | Simple Nonlinear | No | Yes | No | Can Mitigate | No | No | "on-mesh" Rate Constraint |
Two-link Robot Arm Problem | Easy | Easy | Nonlinear | No | No | No | No | No | Yes | - |
Cart Pole Swing-Up Problem | Easy | Easy | Nonlinear | No | No | No | No | Yes | No | Closed-loop Simulation |
Batch Fermentor Reactor Problem | Easy | Hard | Nonlinear | No | No | No | Yes | Yes | Yes | - |
Control of a Spaceship Problem | Intermediate | Medium | Nonlinear | No | No | No | No | No | No | - |
Aircraft Minimum Fuel/Time Climb | Intermediate | Medium | Nonlinear | No | No | No | No | No | Yes | Look-up Tables/CL Simulation |
Goddard Rocket (Single Phase) | Intermediate | Hard | Nonlinear | No | No | No | Yes | No | No | Residual Minimization |
Orbit Raising Problem | Intermediate | Medium /Easy | Nonlinear | Yes | No | Yes | No | No/Yes | Yes | Alternative Formulation |
Space Shuttle Reentry Trajectory | Hard | Medium | Nonlinear | No | No | No | No | No | Yes | - |
Aircraft Go-around in Windshear | Hard | Medium | Nonlinear | Yes | Yes | No | Can Mitigate | No | Yes | "on-mesh" Rate Constraint |
Vehicle Parallel Parking Problem | Hard | Hard | Nonlinear | Yes | Yes | Yes | Yes | No | Yes | Automatic Regularization |
Commercial Aircraft Flight Profile | Hard | Hard | Nonlinear | Yes | Yes | Yes | No | No | Yes | External Constraint Handling |
Low-Thrust Orbit Transfer Problem | Hard | Hard | Nonlinear | Yes | No | Yes | No | No | No | - |
Bang-bang Control (Multi-Phase) | Intermediate | Easy | Linear | No | No | Yes | No | No | Yes | Multi-phase Formulation |
Goddard Rocket (Multi-Phase) | Hard | Medium | Nonlinear | Yes | No | Yes | No | No | Yes | Singular arc condition |