Path: Orbit/Optimization
% Computes the analytical lambda for Zermelo's problem. Finds the costates for the minimum cost solution by using fminsearch with the analytical trajectory function to find the initial and final control angles. This is a test case for TrajectoryOptimization. -------------------------------------------------------------------------- Form: [lambda,theta] = ZermeloAnalyticalLambda( x, y, v ) -------------------------------------------------------------------------- ------ Inputs ------ x (1,1) x/h y (1,1) y/h v (1,1) Velocity ------- Outputs ------- lambda (2,1) Costates. [x;y] theta (2,1) Control angles, [initial final] -------------------------------------------------------------------------- Reference: Bryson, Ho, "Applied Optimal Control", Hemisphere Publishing. -------------------------------------------------------------------------- See also: ZermeloAnalyticalCost --------------------------------------------------------------------------
Orbit: Optimization/ZermeloAnalyticalCost
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