A Multi-Phase DMOC-based Optimal Trajectory Generation Methodology for a Quadrotor

摘要：

　　This paper proposes a new multi-phase DMOC based trajectory optimization methodology to solve optimal control problems for mechanical systems.DMOC(Discrete Mechanics and Optimal Control)approach directly derives from discrete Lagrange-DAlembert principle.The constraints for the optimization of a given cost functional are modeled as Euler-Lagrange equations.In addition to the basic requirements of DMOC,a Multi-phase Trajectory Optimization Strategy is proposed to satisfy some specific requirements and help to improve trajectory generation performance when the system should operate in a relatively complex or special environment; To show its advantages,the numerical simulations illustrate the proposed approach by generating the multi-phase optimal trajectory for a quadrotor,and comparison with another state-of-art direct Gauss Pseudo-spectrum Method(GPM)is presented.The experiment results show that our approach is more efficient to generate optimal trajectory for complex nonlinear problems than GPM,and with prospect of wide application in trajectory optimization.

关键词： DMOC Optimal Control Multi-phase Trajectory Optimization Strategy Quadrotor Problem

作者: Dan Wang Weizhong Zhang Jiayuan Shan

作者单位: The Ministry of Education Key Laboratory of Flight Dynamics and Control,Beijing Institute of Technology,Beijing 100081,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8984-8989

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）