A Pseudospectral Method for Trajectory Optimization of Free-Floating Space Manipulator
An improved Gauss pseudospectral method with linear final state constraints is proposed to solve the trajectory optimization problem of free-floating space manipulator (FFSM) system. In this paper, the problem is transformed into a nonlinear programming problem (NLP) by states approximation at the Legendre-Gauss (LG) points and the boundary times. The differential of these states can be expressed as linear combinations of values at the discrete points approximately. Therefore, the FFSM dynamic equations and the cost function can be expressed as algebraic equations. The sequential quadratic programming (SQP) method is implemented to achieve the optimal trajectory. The planned joint angle trajectories are continuous, and the angular velocities at the initial and final time equal to zero. Numerical simulation results demonstrate that the proposed method is effective and available for solving the FFSM trajectory optimization problem.
Pseudospectral Method Trajectory Optimization Free-Floating Space Manipulator
LI Shi DUAN Guangren
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2395-2399
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）