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4. Optimal control of a satellite-robot system using direct collocation with non-linear programming

Author

N.M. Wilkey and V.L. Coverstone-Carroll

Subjects
Mathematical optimization, Collocation, Differential equation, Aerospace Engineering, Equations of motion, Optimal substructure, Optimal control, Nonlinear programming, Computer Science::Robotics, Control theory, Collocation method, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, Orthogonal collocation, Mathematics
Abstract

The non-holonomic behavior of a satellite-robot system is used to develop the system's equations of motion. The resulting non-linear differential equations are transformed into a non-linear programming problem using direct collocation. The link rates of the robot are minimized along optimal reorientations. Optimal solutions to several maneuvers are obtained and the results are interpreted to gain an understanding of the satellite-robot dynamics.

Published
1995
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