Efficient Numerical Method for Optimal Control -- Quadrotor Flipping

This video demonstrates efficient numerical method for optimal control problems. In a quadrotor flipping problem, the drone should be flipped 360 deg with bounded control input and satisfying underactuated system dynamics. Since this is nonlinear optimal control problem, no analytical solution can be found and only numerical method can be implemented. In this demo the solver takes only around 0.7s for the general difficult problem.