Implement trajectory tracking examples (points mass model following sinusoidal path)

brocksam / pycollo

General-purpose optimal control, trajectory optimisation and parameter optimisation using direct collocation

https://brocksam.github.io/pycollo/

MIT License

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Closed brocksam closed 1 year ago

brocksam commented 1 year ago

This PR implements trajectory tracking examples:

Point mass controlled by a pair of orthogonal point forces.
Point mass controlled by a freely directional point force.
Point mass controlled by a rate-controlled directional point force whose rate of force development is controlled.

Multiphase objective functions are required in the first two problems because the solutions aren't unique for pure trajectory tracking.