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To solve the problem of optimal path planning of two-wheeled mobile robots (TWMRs) in the presence of dynamic obstacles, a symplectic pseudospectral method for solving nonlinear optimal control problems with inequality constraints is developed. The proposed algorithm transforms the original nonlinear optimal problem into a series of linear-quadratic optimal control problems (LQOCPs) by using quasilinearization...
A nonlinear optimal control strategy is formulated to design optimal continuous low-thrust transfers between three dimensional Halo orbits in the vicinity of the second libration point of the Sun-Earth system. The nonlinear optimal control method based on the circular restricted three-body problem model, which uses the dual variable principle, is transformed into nonlinear algebraic equations for...
A new nonlinear optimal tracking control method is proposed and analyzed which stabilizes a class of unstable periodic orbits near collinear libration points. Since such libration point orbits are, in general, unstable, spacecraft moving on these orbits must use some form of trajectory control to remain close to their nominal paths. In this study, the control law based on optimal control theory gives...
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