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Optimal Guidance and Control with Nonlinear Dynamics Using Sequential Convex Programming

Foust, Rebecca and Chung, Soon-Jo and Hadaegh, Fred Y. (2020) Optimal Guidance and Control with Nonlinear Dynamics Using Sequential Convex Programming. Journal of Guidance, Control, and Dynamics, 43 (4). pp. 633-644. ISSN 0731-5090. https://resolver.caltech.edu/CaltechAUTHORS:20191029-160904084

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Abstract

This paper presents a novel method for expanding the use of sequential convex programming (SCP) to the domain of optimal guidance and control problems with nonlinear dynamics constraints. 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. Two methods are proposed, sequential convex programming with nonlinear dynamics correction (SCPn) and modified SCPn (M-SCPn), which mixes SCP and SCPn to reduce runtime and improve algorithmic robustness. Both methods are proven to generate optimal state and control trajectories that satisfy the nonlinear dynamics. Simulations are presented to validate the efficacy of the methods as compared to SCP.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.2514/1.G004590DOIArticle
ORCID:
AuthorORCID
Foust, Rebecca0000-0003-1470-1716
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2019 American Institute of Aeronautics and Astronautics. The work of Rebecca Foust was supported by a NASA Space Technology Research Fellowship (grant # NNX15AP48H), in part at the Jet Propulsion Laboratory (JPL). Government sponsorship is acknowledged. The authors thank Kyunam Kim, Amir Rahmani, Rob Fuentes, Richard Choroszucha, and Christian Chilan for their technical input.
Group:GALCIT
Funders:
Funding AgencyGrant Number
NASA Space Technology Research FellowshipNNX15AP48H
JPLUNSPECIFIED
Issue or Number:4
Record Number:CaltechAUTHORS:20191029-160904084
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191029-160904084
Official Citation:Optimal Guidance and Control with Nonlinear Dynamics Using Sequential Convex Programming. Rebecca Foust, Soon-Jo Chung, and Fred Y. Hadaegh. Journal of Guidance, Control, and Dynamics 2020 43:4, 633-644; doi: 10.2514/1.G004590
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99551
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:29 Oct 2019 23:18
Last Modified:12 Mar 2020 22:38

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