Further tags : implicit form, Matlab codegen for GPOPS purposes
I would like to introduce my self and ask you for an advice.
I have a four linked robot that i would really like to control by the meaning of the optimal control theory. The arm has 4 actuators (giving torques U) in corrispondence of 4 rotational joints. P parameters describe the system.
I got ht edynamic system with the Lagrangian method and now I have 4 2nd order...