Convex Optimization-Based Techniques for Trajectory Design and Control of Nonlinear Systems with Polytopic Range

This paper presents new techniques for the trajectory design and control of nonlinear dynamical systems. The technique uses a convex polytope to bound range function associates with each vertex an auxiliary linear system. Provided controls associated systems can be generated satisfy ordering constraint, is computable by interpolation obtained optimization. theoretical result leads two numerical approaches solving constrained problem: one requires single optimization problem other sequence problems. are applied practical problems in aerospace engineering: relative orbital motion attitude problem. solve times both on order seconds. It concluded that these rigorous use