- Data Sheet -

BMW 1800/2000: Slalom Manoeuvre

Objective	:	minimization of steering effort
		$\int\limits_{0}^{t_f} u(t)^2 dt \rightarrow\min$
Model	:	BMW 1800/2000, semi-explicit DAE system of index 1
		$$\begin{eqnarray*} \dot{x} & = & f(t,x,y,u), \\ 0 & = & g(t,x,y,u) \\ \end{eqnarray*}$$
Integrator	:	DSRTSE
State	:	41 differential variables, 4 algebraic variables
Control	:	steering wheel velocity $u(t)$
Final time	:	free
Initial velocity	:	20 [m/s]
Path constraints	:	lower and upper bound of the slalom track, piecewise defined polynomials
Boundary conditions	:	2
Discretization	:	101 control grid points, single shooting
Computations	:	Matthias Gerdts
Graphics	:	Karsten Nikkel, Matthias Gerdts
Software	:	SODAS, POVRAY