最小原理を応用した機械システムの最適軌道計画の数値計算法に関する提案

概要

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Recently technological advances made systems more sophisticated, and the problems more complicated. To adapt to complex conditions, the behavior of a system should be optimized. For example, robots, aircrafts, spacecrafts and Aero-assited Orbital Transfer Vehicles (AOTV) have sophisticated trajectory programming problems. This study presents the proposal of two new general methods to solve optimum control problem. Applying Minimum Principle to parameterize optimum control problem by initial value of adjoint variables p_0. The problem can be solved by direct optimization using general Non-Linear Programing solutions. The proposed methods offer faster numerical solutions for optimum trajectory programming problems. In order to see whether the proposed methods are advantageous, the results of a comparative study with conventional methods are shown.
一般社団法人日本機械学会の論文
2004-12-08