Trajectory optimization by a direct descent process

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Abstract
The problem considered is that of trajectory optimization using step-by-step descent to minimum cost along the direction of the cost gradient with respect to the control. Using a hybrid computer, the gradient is computed di rectly as the response to nearly impulsive control perturba tions. A method is presented for computing the gradient when several terminal constraints are enforced. Examples of application of the method are presented. It is concluded that the direct gradient computation method has some significant advantages over other methods.

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