NDLI: A multi-phase DMOC-based optimal trajectory generation methodology for a quadrotor

Content Provider	IEEE Xplore Digital Library
Author	Dan Wang Weizhong Zhang Jiayuan Shan
Copyright Year	2014
Description	Author affiliation: Minist. of Educ. Key Lab. of Flight Dynamics & Control, Beijing Inst. of Technol., Beijing, China (Dan Wang; Weizhong Zhang; Jiayuan Shan)
Abstract	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-D'Alembert 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.
Starting Page	8984
Ending Page	8989
File Size	783061
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896513
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Optimal control Multi-phase Trajectory Optimization Strategy Cost function Trajectory Mathematical model Aircraft DMOC Optimal Control Equations Quadrotor Problem
Content Type	Text
Resource Type	Article

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