An Evaluation of using Numerically Determined Minimum Time Isochrones for Real Time Applications

The ability to produce real time, time optimal control from a finite element solution of the minimum time isochrones of a double integrator system is investigated. Isochrones produced from two different solution schemes are used in the simulations. A real time environment is constructed by using two PC microcomputers. One computer calculates the control from the numerical solution while the other computer simulates the dynamic system. State and control information is relayed between the two computers using direct memory access. The results of the simulations show that the system can be controlled in real time. A controller based upon the switching curve is also used for comparison purposes.