abdolrezat/optimal-control-dynamic-programming

MATLAB Optimal Control codes related to HJB Dynamic Programming to find the optimal path for any state of the system

Legacy Repository

This code repository contains codes for Dynamic Programming with application in Optimal Control for seperate position control and attitude control. It is now re-designed to incorporate full coupled position and attitude control of a satellite, see the successor repository: https://github.com/abdolrezat/SPHERES-DPcontrol

Run Test Class

MATLAB Optimal Control codes related to HJB Dynamic Programming to find the optimal path for any state of a linear system

The Test Class solves the example at the end of chapter 3 of Optimal Control Theory - kirk (System with state equation AX + BU )

Run the Tests

The class is loaded with a example. In order to see the results, create a Dynamic_Solver object first:
objA = Dynamic_Solver;
Calculate the optimal controls at each state:
run(objA)
Finally, track the optimal states and controls:
get_optimal_path(objA)
or get the optimal states and controls from any desired initial states:
get_optimal_path(objA, [x1 x2])

Unique Performance

This code exploits Vectorization in MATLAB thus it is more than thousands orders of magnitude faster than loop algorithm implementation which is explained in Optimal Control Theory book(s).