Difference between revisions of "Particle steering problem (TACO)"

# ----------------------------------------------------------------
# Particle steering problem using AMPL and TACO
# (c) Christian Kirches, Sven Leyffer
#
# Source: COPS 3.1 collocation formulation - March 2004
# ----------------------------------------------------------------
include OptimalControl.mod;
 
param Pi := 3.14159265358979;
param a := 100.0;
 
var t;
var tf := 1, >= 0, <=10;
var y{1..4};
var u >= -Pi/2, <= +Pi/2;
let u.type := "u1";
 
minimize time: eval(t,tf);
 
subject to
 
dy1: diff (y[1],t) = y[2];
dy2: diff (y[2],t) = a*cos(u);
dy3: diff (y[3],t) = y[4];
dy4: diff (y[4],t) = a*sin(u);
 
ivc{i in 1..4}: eval(y[i],0) = 0;
 
by1d: eval(y[2],tf) = 45;
by2:  eval(y[3],tf) = 5;
by2d: eval(y[4],tf) = 0;
 
option solver ...;
 
solve;