Published January 2019
| Accepted Version
Conference Paper
Open
Solving Optimal Control with Nonlinear Dynamics Using Sequential Convex Programming
- Creators
-
Foust, Rebecca
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Chung, Soon-Jo
- Hadaegh, Fred Y.
Chicago
An error occurred while generating the citation.
Abstract
Sequential convex programming (SCP) is a useful tool in obtaining real-time solutions to direct optimal control, but it is unable to adequately model nonlinear dynamics due to the linearization and discretization required. As nonlinear program solvers are not yet functioning in real-time, a tool is needed to bridge the gap between satisfying the nonlinear dynamics and completing execution fast enough to be useful. This paper presents a real-time control algorithm, sequential convex programming with nonlinear dynamics correction (SCPn), which ameliorates the performance of SCP under nonlinear dynamics. Simulations are presented to validate the efficacy of the method.
Additional Information
© 2019 AIAA. AIAA Paper 2019-0652. The work of Rebecca Foust was supported by a NASA Space Technology Research Fellowship and in part by the Jet Propulsion Laboratory (JPL). Government sponsorship is acknowledged. The authors also thank Amir Rahmani and Christian Chilan for their technical input.Attached Files
Accepted Version - Scitech_control_ID_3032436_Foust_GNC_10.pdf
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Scitech_control_ID_3032436_Foust_GNC_10.pdf
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Additional details
- Eprint ID
- 92176
- Resolver ID
- CaltechAUTHORS:20190109-132944040
- NASA Space Technology Research Fellowship
- JPL
- Created
-
2019-01-09Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field
- Caltech groups
- GALCIT
- Other Numbering System Name
- AIAA Paper
- Other Numbering System Identifier
- 2019-0652