Browse wiki
From MurrayWiki
Real-Time Optimal Trajectory Generation for Constrained Dynamical Systems |
Abstract |
With the advent of powerful computing and … With the advent of powerful computing and efficient computational algorithms,
real-time solutions to constrained optimal control problems are nearing a reality. In
this thesis, we develop a computationally efficient Nonlinear Trajectory Generation
(NTG) algorithm and describe its software implementation to solve, in real-time,
nonlinear optimal trajectory generation problems for constrained systems. NTG is
a nonlinear trajectory generation software package that combines nonlinear control
theory, B-spline basis functions, and nonlinear programming. We compare NTG
with other numerical optimal control problem solution techniques, such as direct
collocation, shooting, adjoints, and differential inclusions.
We demonstrate the performance of NTG on the Caltech Ducted Fan testbed.
Aggressive, constrained optimal control problems are solved in real-time for hover-
to-hover, forward flight, and terrain avoidance test cases. Real-time trajectory
generation results are shown for both the two-degree of freedom and receding
horizon control designs. Further experimental demonstration is provided with the
station-keeping, reconfiguration, and deconfiguration of micro-satellite formation
with complex nonlinear constraints. Successful application of NTG in these cases
demonstrates reliable real-time trajectory generation, even for highly nonlinear
and non-convex systems. The results are among the first to apply receding horizon
control techniques for agile flight in an experimental setting, using representative dynamics and computation. g representative dynamics and computation. +
|
---|---|
Authors | Mark B. Milam + |
ID | 2003 + |
Source | PhD Dissertation, Control and Dynamical Systems + |
Tag | milam03-phd + |
Title | Real-Time Optimal Trajectory Generation for Constrained Dynamical Systems + |
Type | PhD Dissertation + |
Categories | Papers |
Modification date This property is a special property in this wiki.
|
15 May 2016 06:18:48 + |
URL This property is a special property in this wiki.
|
http://www.cds.caltech.edu/~murray/preprints/milam03-phd.pdf + |
hide properties that link here |
Real-Time Optimal Trajectory Generation for Constrained Dynamical Systems + | Title |
---|