Optimal finite-thrust spacecraft trajectories using collocation and nonlinear programming

Enright, Paul J.; Conway, Bruce A.

doi:10.2514/3.20739

Cited by 129 publications

(64 citation statements)

References 8 publications

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“…Although straightforward, such a method suffers from the 'tail wagging the dog' effect, i.e, a small perturbation of the initial state and control action can produce large changes on the final states, resulting in a slow convergence rate [1]. The second approach, the direct method (for example, direct collocation), formulates both control and states as decision variables, with the dynamics functions to be the nonlinear constraints in the optimization program [5]. This approach is advantageous in convergence rate, but requires the optimization program to handle more variables and constraints.…”

Section: Trajectory Optimizationmentioning

confidence: 99%

Optimizing robust limit cycles for legged locomotion on unknown terrain

Dai

Tedrake

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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Abstract-While legged animals are adept at traversing rough landscapes, it remains a very challenging task for a legged robot to negotiate unknown terrain. Control systems for legged robots are plagued by dynamic constraints from underactuation, actuator power limits, and frictional ground contact; rather than relying purely on disturbance rejection, considerable advantage can be obtained by planning nominal trajectories which are more easily stabilized. In this paper, we present an approach for designing nominal periodic trajectories for legged robots that maximize a measure of robustness against uncertainty in the geometry of the terrain. We propose a direct collocation method which solves simultaneously for a nominal periodic control input, for many possible one-step solution trajectories (using ground profiles drawn from a distribution over terrain), and for the periodic solution to a jump Riccati equation which provides an expected infinite-horizon cost-to-go for each of these samples. We demonstrate that this trajectory optimization scheme can recover the known deadbeat openloop control solution for the Spring Loaded Inverted Pendulum (SLIP) on unknown terrain. Moreover, we demonstrate that it generalizes to other models like the bipedal compass gait walker, resulting in a dramatic increase in the number of steps taken over moderate terrain when compared against a limit cycle optimized for efficiency only.

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Section: Trajectory Optimizationmentioning

confidence: 99%

Optimizing robust limit cycles for legged locomotion on unknown terrain

Dai

Tedrake

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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“…The optimal control problem is directly collocated with a nonlinear programming problem, 8) and the nonlinear programming problem is solved by the sequential quadratic programming method. The major assumptions on the trajectory design are listed in Table 5.…”

Section: Trajectory Design Of Vega With Sepmentioning

confidence: 99%

Trajectory to Largely Inclined out of Ecliptic Orbit by way of Electric Propulsion and Venus/Earth Gravity Assists

Kawakatsu

Kuninaka

Nishiyama

2010

AEROSPACE TECHNOLOGY JAPAN

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The study on the post-HINODE Solar Observation Mission has been started by members in the Solar physics community. One candidate of the mission targets is the observation of the high latitude region of the Sun, which requires the injection of the space observatory (spacecraft) into the orbit largely inclined with the ecliptic plane. Reported in this paper is the trajectory design result for this orbit transfer by way of the Solar electric propulsion and the Venus/Earth gravity assists. The sequence is divided into two phases, the Venus Earth Gravity Assist (VEGA) phase and the sequential Electric Propulsion Delta-V Earth Gravity Assist (EDVEGA) phase. The designed trajectory through the sequence is provided, and it is compared with the trajectory solely using the sequential EDVEGA strategy.

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“…The optimal control problem is directly collocated with a nonlinear programming problem, 21) and the nonlinear programming problem is solved by the sequential quadratic programming method. The major assumptions of the mission design are set based on the design of HAYABUSA, and they are listed in Table 5.…”

Section: Procedures Of Detailed Mission Designmentioning

confidence: 99%

Mission Analysis for Sample Retrieval from a Primitive Near-Earth Asteroid

Kawakatsu

Abe

Kawaguchi

2009

Trans. JSASS Space Tech. Japan

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Reported in this paper are the results of a mission analysis conducted for an asteroid exploration mission. Following the results obtained from HAYABUSA, a Japanese asteroid explorer, the Japan Aerospace Exploration Agency has started studying the possibility of the next asteroid exploration mission. The mission studied gives priority to the "early" retrieval of a sample from an asteroid with a primitive composition. Therefore, the design of the spacecraft follows that of the HAYABUSA, basically as it is, and the spacecraft is planned to be launched early in the next decade. The objective of the mission analysis is to design a mission sequence which has a launch window early in the next decade, is feasible utilizing a HAYABUSA-type spacecraft, and whose target asteroid complies with the scientific objectives. The results include the selection of the target asteroid, the design of the nominal mission sequence, and the alternative sequence to overcome the drawbacks of the nominal sequence.

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Optimal finite-thrust spacecraft trajectories using collocation and nonlinear programming

Cited by 129 publications

References 8 publications

Optimizing robust limit cycles for legged locomotion on unknown terrain

Optimizing robust limit cycles for legged locomotion on unknown terrain

Trajectory to Largely Inclined out of Ecliptic Orbit by way of Electric Propulsion and Venus/Earth Gravity Assists

Mission Analysis for Sample Retrieval from a Primitive Near-Earth Asteroid

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