This problem was formulated by Johann Bernoulli, in Acta Eruditorum, June 1696
"Given two points A and B in a vertical plane, what is the curve traced out by a point acted on only by gravity, which starts at A and reaches B in the shortest time."
In this example, we solve the problem numerically for A = (0,0) and B = (10,-3), and an initial speed of zero.
The mechanical system is modelled as follows:
| = v sin(θ) |
| = −v cos(θ) |
| = g cos(θ) |
where (x,y) is the coordinates of the point, v is the velocity, and theta is the angle between the direction of movement and the vertical.
Reference: [6]
toms t toms t_f p = tomPhase('p', t, 0, t_f, 20); setPhase(p); tomStates x y v tomControls theta % Initial guess % Note: The guess for t_f must appear in the list before expression involving t. x0 = {t_f == 10 icollocate({ v == t x == v*t/2 y == -1 }) collocate(theta==0.1)}; % Box constraints cbox = {0.1 <= t_f <= 100 0 <= icollocate(v) 0 <= collocate(theta) <= pi}; % Boundary constraints cbnd = {initial({x == 0; y == 0; v == 0}) final({x == 10; y == -3})}; % ODEs and path constraints g = 9.81; ceq = collocate({ dot(x) == v.*sin(theta) dot(y) == -v.*cos(theta) dot(v) == g*cos(theta)}); % Objective objective = t_f;
options = struct; options.name = 'Brachistochrone'; solution = ezsolve(objective, {cbox, cbnd, ceq}, x0, options); x = subs(collocate(x),solution); y = subs(collocate(y),solution); v = subs(collocate(v),solution); theta = subs(collocate(theta),solution); t = subs(collocate(t),solution);
Problem type appears to be: lpcon Starting numeric solver ===== * * * =================================================================== * * * TOMLAB - Tomlab Optimization Inc. Development license 999001. Valid to 2011-02-05 ===================================================================================== Problem: --- 1: Brachistochrone f_k 1.878940329113843100 sum(|constr|) 0.000000174716635746 f(x_k) + sum(|constr|) 1.878940503830478900 f(x_0) 10.000000000000000000 Solver: snopt. EXIT=0. INFORM=1. SNOPT 7.2-5 NLP code Optimality conditions satisfied FuncEv 1 ConstrEv 834 ConJacEv 834 Iter 224 MinorIter 826 CPU time: 1.484375 sec. Elapsed time: 1.500000 sec.
To obtain the brachistochrone curve, we plot y versus x.
subplot(3,1,1) plot(x, y); subplot(3,1,2) plot(t, v); % We can also plot theta vs. t. subplot(3,1,3) plot(t, theta)